Giriyondo to inhambane

We are planning a trip to Tofo overland from Kruger in April. We are currently exploring the option of travelling from crocodile bridge or malelane up through the park to Guriyondo gate into Moz. We think if we set off early we can get to one of the rest camps near Guriyondo for a night and then cross the border early and get to Tofo before dark ...

Any thoughts? Do we need 4x4? How are the roads?

Any hints or tips appreciated