Lake Jipe is a beautiful remote destination, based on the border to Tanzania in the far western corner of Tsavo West National Park. It can be a destination for camper adventurers who are looking for a beautiful remote place, no other tourist in the near vicinity. A great stop in between Tsavo West - Northern section and Lumo Wildlife Sanctuary or the Taita Hills.
Camping is essential as there are no accommodations on the Kenyan side. check: https://thekenyancamper.com as a good source of information on driving and reaching.
Recently a roadtripper went to Jipe, you can read his review on the trip here: https://www.4x4community.co.za/forum/showthread.php/307348-Kenya-A-classical-Route-with-a-twist-on-the-roads-less-travelled
Make sure you acquire the details of the KWS rangers on duty as they might help you along the way.