Going by camper in Kruger is really great.
From 1998 till 2006 we went to SA and Nam. by camper 2 times each year and is was really more than great!!
It was fantastic.
We always hired campers from Bobocampers in Jo'burg.
And just as you said, one can drive or make lots and lots of pictures and while the other can read books or take a small nap
In Kruger we drove almost every road there is.
No problem also the roads closed for caravans.
Take them slowly and don't hurry.
Only when you drive on corrugated roads it can be a bit of a problem.
Everything shakes and makes a lot of noise.
And there are some bad roads (e.g. Sweni road) well we put those roads on our 'black list', but most of the roads are really no problem at all.
And as you said you have everything with you.
We were once on the road to Nwanetsi where we saw a pride of lions (about 22 with cubs and big males) we waited for almost 5 hours before they stood up and walked on the road to a waterhole.
No problem, you have your own toilet, cold beer, and all the food and whatever.
So it is a very good way of explore Kruger.
The only problem can be..... a camper is large...... and when there is a sighting of lions or a leopard.....well it can be busy and finding a good place to make photo's can be a little difficult but again.... you have all the time and most of the time other people leave sooner.
The campers we hired had a big window at the right side and you can open it.
My wife took pic's from that side of the camper and you can even put a tripod behind the window.
All the pictures on our website (south Africa Kruger and Pilanesberg till 2005 ) and Namibia 2005 are taken right out of the camper.
I don't know if there are 'new ' restrictions but make a call to Bobocampers of check their website.
We always have had good experiences with Bobocampers.
If you have more questions let me know!.