I would fly to Maputo - book with Travelstart. Then for a safe, comfortable and reliable shuttle to Inhambane town look up
Or if you are adventurous, from Maputo get a taxi at 0500 to Na Junta which is the long distance chapa and bus terminus and take a bus to Maxixe then Ferry or dhow taxi to Inhambane. Or take a bus direct to Inhambane. Plenty of chapas Inhambane to Tofo.