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The Namaqua NP is composed of two different parts :
The Caracal Eco Route cross these two parts, can be done from north to south, or south to north. And is supposed to be feasible in one day.
But we would recommend to do it WITH an overnight stop if you don’t want to have a clock in mind and enjoy all the different things that are explorables.
A good option seems to find a spot in Hondeklip baai, we saw sign on the road exiting the southern part.
Like some other Parks in Southern Africa, it is recommended (and even mandatory) to drive a 4WD vehicle due to the presence of deep sands, mostly in the southern/costal part.
However, the difficulty of the track will mainly depend on the season you’re going through it. On our side, during this chilly winter, we didn’t encounter any difficulties at all.