There is no fee for a car in South African parks (SANParks), just the conservation fees and (possibly) accomodation costs.
We were there with our own truck in 2009/2010, and again 2012 and last year with a rented camper.
If you plan to spend more than a few days in any of these parks, I recommend to buy a "Wild Card". Great value for the money, as are the SA-parks in general.
Thomas
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