When heading back to South Africa, you will once again cross over the border at Vioosdruf, but you do, you will drive along the border along the Orange river, which offers stunning views as this area is more plush with plant life and not the desert that you escaped from. You can choose to stop off for another night in Springbok or go the entire way back to Cape Town. The former is preferred since the drive from Kolmanskop to cape town is over 1100 kms.
No matter how you decide to split up this drive, the sights you see will be worth it. The relative obscurity of this area with regards to tourism makes it ideal to discover these places without hordes of people following your lead. The ideal exhcnage rate also makes it affordable for most travelers. If you don’t mind the driving, this trip is perfect for you.
PROTIP: If you have extra time during your road trip, head north from Swakopmund and check out Skeleton Coast National Park, which is littered with shipwrecks and whale skeletons.