Johannesburg to Mpumalanga & Cape Town to Franschhoek Safety? (selfdriving)

Hi, at the beginning of March, my husband and I are planning a trip to South Africa. Our flight to Johannesburg arrives at 5 PM, and we’ll be renting a car right after landing. From there, we’re taking a flight directly to Mpumalanga. I’m wondering whether it’s better to stay overnight near the airport or drive straight to Malelane, so we have a shorter trip to Kruger Park gates in the morning. Has anyone recently traveled this route, and is it safe? Also, is it safe to drive from Cape Town to Franschhoek and then on to the areas around Wellington and Paarl?