Yes it is safe. Travel during day light and be aware for drunk drivers and slow vehicles and cows (mostly in Kwazulu Natal) and other animals on the road. Be aware for people walking next to the road.
In the night animals like to lay on the road because its warmer, and there are more drunk drivers.
In the (big) cities it is handy to keep your door locked so no one can rob you quickly wen your waiting for a traffic light. Also don't but your bag, camera etc. near an open window. Someone can take it easily and run away.
How do I now. Because me and another woman drove in a rental car from Johannesburg through Lesotho and Swaziland all the way down to Cape town. People we met were very friendly. We had a good road map and made sure we arrive before dark. We heard the horror stories about South Africa. But no matter were your are in this world I believe that there are always nice people and not so nice people.We had no problem at all. Asked directions and people were always willing to help. Sometimes they didn't speak English, but just smiled.
So enjoy yourself and just be careful.
(I'm from Europe)
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