The drive from OR Tambo to Malelane is about 4 hours but depending upon where you are flying in from & how long that flight is as well as arrival time, I would recommend staying overnight in JNB if you plan on renting the vehicle in JNB. If there are 3 adults & depending upon how much baggage you have, a sedan may be a bit on the cramped side.
Depending upon where you hire the vehicle, rooftop tents are not part of the package - certainly none at OR Tambo that I have seen.
Usually for international visitors, unlimited mileage is the standard option. As for insurance, check out your options.
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