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Bishop Desmond Tutu, a fierce opponent of South Africa's policy of racial separation, can at last travel abroad. After having six passport applications turned down, he was granted a travel document valid only for Canada, the US, and New Zealand. The bishop, who is general secretary of the South African Council of Churches, will leave Aug. 4 for the World Council of Churches Assembly in Vancouver, Canada. Asked why he thought the government was so reluctant to let him travel, he joked, ''They love me too much to let me out of their sight.''