YA fiction book about monkeys that escape a zoo

[Rahmaa]

The plot goes like this:
- Monkeys living in a zoo and with a belief system. Generous humans had placed them inside a cage for their protection from wild animals that were eating them.
- A new monkey was placed into the cage. He was very world wise and had apparently even been to space. He had disdain for the monkey religion and hatred for humans.
- He managed to break out of the safari, along with a few young monkeys. The free monkeys have novel experiences, such as escaping from a crocodile that tries to eat them, driving a car and trying to run over humans and talking to a human baby.
- Eventually, all the monkeys, barring the new one were caught.
There was a character named Chimp as well. Read around 20 years ago,