"Elephants live in Asia and Africa."
Vertaling:Olifanten leven in Azië en Afrika.
I would. Wonen refers to living in a structure. In that regard you could argue if the animals in the zoo live in the structure you could use wonen and similar with birds living in a nest etc.. However, saying that, when you use wonen in combination with animals you are humanising them (similar as with cartoons). Safest best is to just use leven when it comes to animals.