I'm building on https://linguistics.stackexchange.com/a/27752/17064, @user6726's answer to the related question.
The very earliest renderings of Zulu in Roman script, as @user6726 reports, used normal Roman capitalisation conventions. @user6726 reports that
In Bryant's 1848 article "The Zulu language", citation names are given
as e.g. Umpandi, Unyokhana, and Grout 1849 "The Zulu and other
dialects of southern Africa" likewise gives Untaba, Ubalekhile.
The 1859 grammar of Zulu by the American missionary Lewis Grout likewise still uses the older capitalisation: Udavida not uDavida for "David":
On the other hand, Bishop John Colenso's grammar written in the same year uses the modern camel-case convention. And little hints I see in Wikipedia and Google show that inconsistency in Zulu capitalisation persisted for a while.
What seems to be an explanation occurs in the 1868 book Nursery Tales, Traditions, & Histories of the Zulus by Henry Callaway, which uses the older capitalisation, and rejects camel-case:
There are two modes of writing—one adopted by Dr. Colenso and Dr.
Bleek, in which a number of small words is run together; and the
other, that adopted by the American missionaries and others, in which
there is, perhaps, the opposite mistake of unnecessary division.
As regards the first, I am quite unable to see anything to recommend
it, or even to conceive the reason of its adoption. Why should we
write ngabebabopa, "they ought to bind them"; and not nga be ba
bopa, "ought they them bind?" Why should we run the Zulu words
together, when we write the English ones apart? (p. ii)
A difficulty, too, has been felt as regards the capital letters; and
we find consequently in printed books some ugly anomalies, such as a
capital in the middle of a word, and paragraphs beginning with a small
letter. This has arisen apparently, in part, from the error of not
regarding the prefix as an essential part of a noun, and so giving the
nominal root an undue prominence; and, in part, from our not being
accustomed to those initial changes upon which grammatical
inflection so much depends in the Zulu language. But to use the
capital letters to distinguish nominal roots is a novelty in writing
(p. iii)
So, Grout wrote Zulu affixes as separate words, Colenso as affixes (something Callaway disagreed with). And (I assume!) Colenso also came up with the camel-case orthography, since he was in effect joining up what Grout had written as two words (u Davida, n Kosi, isi Zulu) into single words (uDavida, nKosi, isiZulu).