Carthage seemed to have contact with West Africans.
The trade of the Phoenicians with the west coast of Africa had for its principal objects the procuring of ivory, of elephant, lion, leopard, and deer-skins, and probably of gold. Scylax relates that there was an established trade in his day (about B.C. 350) between Phoenicia and an island which he calls Cerne, probably Arguin, off the West African coast. "The merchants," he says, "who are Phoenicians, when they have arrived at Cerne, anchor their vessels there, and after having pitched their tents upon the shore, proceed to unload their cargo, and to convey it in smaller boats to the mainland. The dealers with whom they trade are Ethiopians; and these dealers sell to the Phoenicians skins of deer, lions, panthers, and domestic animals--elephants' skins also, and their teeth. The Ethiopians wear embroidered garments, and use ivory cups as drinking vessels; their women adorn themselves with ivory bracelets; and their horses also are adorned with ivory. The Phoenicians convey to them eointment, elaborate vessels from Egypt, castrated swine(?), and Attic pottery and cups. These last they commonly purchase [in Athens] at the Feast of Cups. These Ethiopians are eaters of flesh and drinkers of milk; they make also much wine from the vine; and the Phoenicians, too, supply some wine to them. They have a considerable city, to which the Phoenicians sail up." The river on which the city stood was probably the Senegal.
Judging from this and the traditional clothing of other west African groups like ameteurhistorian posted above I would think that the peoples of southern Mauritania and northern Senegal may have dressed similarly to this
This is just my assumption.
This image is of the Toubou peoples during the early 19th century
More from the Sahel
There seems to be a consistency with some clothing of peoples from the Sahel during the 19th century and what the Dogon wear now
I know some of this was influenced by Islamic foreigners to the territory, but to me much of this seems indigenous.
These are some Yoruba women
Some of course simply wore what I guess you call loincloths, but even then some peoples in their societies seemed to wear more.
There seems to be a wide range of dress in that vast area known as Africa, I assume you mean Sub Saharan Africa btw
Also, here's some depictions of Nubians who themselves were a varied bunch of peoples.
I assume ancient and more recent Africa was just like every other continent in which people dressed many different ways.