Sure. Zambia, for instance, permits abortion on grounds of socioeconomic status and health reasons, The other countries including South Africa, Cape Verde, Rwanda, and Tunisia are some that I can remember off head. More interestingly, DRC published the Maputo Protocol in its official gazette in 2018 making it superior to its national laws and widening access to safe abortion as stipulated in the protocol.
The high court in Kenya has held that criminalizing abortion in the penal code without the constitutional statutory framework on safe abortion is a violation of women's reproductive health rights.
This goes to show that courts have gone along way to recognize abortion as a fundamental human right