Yes you will certainly have plenty of time to take a leisurely drive from the Pafuri Picnic Site, along the S63 to Crooks Corner and then to the Border in about an hour. The border closes at 16:00, so best be there by 15:00. Dumela Wilderness Safaris is accessible 24/7 , so no problems there. Ask Lourens and Sonja to book you their Pels Owl Camp if it is available: Lourens Jooste Sr: +258 876954467 (Moz), Lourens Jooste Jr :+27 762989595 (RSA).
Enjoy the adventure and please remember that trip reports or just some brief feedback attracts very good karma!