K@k !
Why go that way and not via Maputo? When at Santa Maria you can't drive in any case?
From JHB 502 km to Maputo - take the ferry from Club Naval or arrange transport accros with Carlos (50min). Plain to Inhaca from Maputo 15min R250 return.
TRip to Kosi from JHB = 7 hours then another 4-5 hours from Kosi - eish !!