If you go Safarifiend's way (preferred because more scenic) Hluhluwe, Vryheid,ladysmith,Underberg estimated time 4.5 hrs if you go Hluhluwe, Durban, Underberg estimated time 5hrs 12min 25seconds, this is according to ask.com click on maps and type in destinations and it will give you the route map, distances and time.
The Kamberg Giants Castle area is also lovely and a different experience to the Underberg region, Glengarry self catering and caravan park is in the foothills of Giants Castle, Giants Castle also has self catering lodges with spectacular views in the mountain, both are rustic and basic but perfectly acceptable if on a budget.
Giants Castle is not far from the midlands meander which is also worth a stop for last minute pressie shopping and some lovely arts and crafts, good food, good wine and local breweries.
http://www.kambergtourism.co.za/ Useful info.
To get to Sani pass from Underberg do not forget your passport and you can arrange a trip (4x4 only )with the Himeville Arms in Himeville. Lots of other operators in the area as well. I hope it is snowing in Lesotho when you go, it is the most surreal experience I have ever had, it felt like heaven on earth to see this blue blue sky and this white escarpment with not a tree or building in sight say for one or two scattered huts, a flock of sheep and tiny little villagers wrapped up in colourful blankets.
We did Sani pass in April - its really worth it. The drive up is only about 1.5 hours (less if you go with a tour group who know the roads like the back of their hands) and the views are amazing. Expect it to be rather cold in July though - and you might even get snow.
If you are still looking for a nice place to stay I can recommend Sani Valley Lodge.
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