Off the top of my head, I’d say unless they made landfall for supplies in Spain or Portugal, they probably didn’t make it out of the Mediterranean. :^) Lotta piracy, and not just muzzies.
The Ethiopian emperor David I (1382-1413) sent an embassy to Venice in 1402 requesting artisans--some were sent but it is not known if they arrived in Ethiopia safely.
The Ethiopian emperor Isaac I (1414-1428) sent a letter to King Alfonso V of Aragon in 1428 requesting an alliance and artisans.
The emperor Zar'a Ya'kub (1434-1468) sent a diplomatic mission to Europe in 1450.
A Venetian monk named Nicolo Brancaleon went to Ethiopia in the 1480s and spent more than 40 years there creating religious paintings, some of which still exist.
Of course the reason for the Europeans to be interested in Ethiopia and vice versa is that they were Christians facing Muslim enemies.