International winger Kigi Makasi and Thomas Ulimwengu scored in each half in this second leg to draw Tanzania level on three-goals apiece with the 2000 Sydney Olympic champions.
Cameroon, who despite taking the lead through Frank Etiounde in the 10th minute, could not build on their 2-1 first leg advantage.
Tanzania managed to score four while Cameroon converted three of the penalties used to settle the tie after 120 minutes of play.
Later in Omdurman, Ramadan al-Agab gave the sudanese hosts an early lead after 9 minutes but Ghanaian striker Saddick Addams scored the equalizer in the 62ndminute of the game.
The result puts Sudan in the third round of the qualifiers after their first leg precious 1-0 victory in Accra.