The only way to really enjoy the Panorama Route through Mpumalanga is to drive a car yourself! I did and it was fantastic. The company I used has a long name, but great service. 'AROUNDABOUTCARS' is a bit of a mouthful, but an excellent car rental company. They gave me the cheapest rates and you can take their cars into Zimbabwe. Many companies have stopped letting people go into Zim. Just tell them which countries you want to go to and they will prepare the paperwork.
They have modern cars, loads of locations and couldn't be more helpful and friendly.
After Hours/Weekend: +27(0)84 4224022
**If in Durban, Johannesburg, Nelspruit or Port Elizabeth you may use this number: