While driving from Joburg to Kruger we stopped for an evening outside the town of Graskop. It wasn't necessary in terms of getting from point A to point B as it's only a 4 1/2 hours away, but it was nice to break up the drive and see some of the natural landscape outside of the park. There were a lot of waterfalls, beautiful vistas, and some natural rock formations. It'd be a pity to drive through the area without stopping to see them.
We stayed the night at a place called African Silks, which is a silk farm outside of Graskop that has guest suites on the premises. It was relatively inexpensive and very secluded. I could definitely picture staying more than one night. The back balcony of each room looked like this: