First of all, let me start by saying that this is a holiday with a difference and it's up to you to make it the best it can be. Also, having been to the cave and experienced the village and surrounding area, I would absolutely recommend you drive (saying that though, the buses in Spain are brilliant and it is easily accessed by bus but to get the most out of the area, drive).
The cave itself is a lovely little house situated at the top of a hill (not tooooo steep and easily accessed by car, but might be a bit of a trek for anyone who struggles with their fitness). Everything was as stated on the website and I really couldn't find fault with it or with Andy, the owner (from the very beginning of our queries, through booking, and throughout our holiday, he was readily available (phonecall or email) to supply us with information to enhance our holiday).
Zujar is in a rural part of Spain, so don't expect to see many tourists (although you might meet the odd expat or... more