They aren't on the map. I know there are 2 on the Uzima savanna side. This savannah is on the outside of the horseshoe, off of Zebra trail. Almost all of the rooms facing this savannah will be able to see the pens. I think they call them bomas.
If you look at the map http://wdwig.com/aklmap3.jpg look for the wing at the end of zebra trail where it says X541-X561. Two of the pens are in the corners of this section, near where it meets the main hallway.
We were in 4565 and because we looked straight out, could not see the pens. They were behind us, sort of. We could not see into any other rooms, just out onto the savannah.
You can also see one from the Sunset overlook, so any rooms in this area would also have that view.
Arusha doesn't have any, but it was closed when we were there.
The people pens are worth it to me...We have stayed at AKL serval times and always frequest to be at the END of zebra trail , on the outside of the u, A CM told us on our first visit that the animals tend to gather on this side because it is a few degrees cooler in afternoon and it is a lil quiter than being closer to the pool or traffic of people, don't get me wrong it was a hike to the bus stop but so well worth it for the veiw, the "people Pen" did not take away from the animals, We never went on to our balc. and did not see tons of animals. Have a great time.