The winner between Liberia and Chad is expected to complete the group after the preliminary matches that would involve eight teams determined by their last FIFA rankings.
The 48 national football teams have been divided into 12 groups of four and will battle it out for a coveted place in the next edition of the continental showpiece.
The top two teams in each group would qualify for the 33rd edition of AFCON to be staged by Cameroon.
The Brave Warriors finished bottom of Group D at the 2019 AFCON in Egypt with no point and only managed to score one goal.
Namibia was paired in a difficult group that included South Africa, Morocco and Ivory Coast.
Meanwhile, the Brave Warriors have begun preparations for their second round 2020 African Nations Championship (CHAN) tie against the Comoros in the Indian Ocean island's capital Moroni on July 26, with the return leg set for Windhoek on August 2.
The winner would take on the winner between Madagascar and Mozambique in the third and final round of the qualifiers.
The CHAN tournament is reserved for players who ply their trade in Africa’s domestic leagues.