Nelspruit is close to
Kruger National Park enter the park at the
Malelane Gate. Make plans to stay in the park well in advance because most of the accommodation in the park is booked out, and to further put a squeeze on things be warned the park gates are locked at 6pm. You can travel 72 km to the Paul Kruger exit gate, or spend the night at Skakuzu or
Satara depending on what time you arrive. Its NB you check the gate traveling times.
Avis does not allow car rentals to cross the Zimbabwe border. The quickest way to Pietersburg is along the R37 but this is absolutely not recommended as it is through a resettlement area. A Train is the best way to get there, then a bus. Do a lot of research before taking this journey. Everybody goes to
Zambia these days instead of Zim to see the falls.