We took a 15 day driving tour from Windhoek and returned to Windhoek. We felt safe at all times, the service throughout the country was incredibly good!
See the Quiver Trees and Giants Playground, take your time and you might see some Hyrax (Daddies) - very cute.
I recommend skipping Ais Ais unless Gondwana have purchased it - very disappointing.
Luderitz is cute and the Nest Hotel is lovely - we had a room looking over the water - nicely placed.
Swakopmund is cute too - one night only tho, not much to see - we drove back to Walvis Bay for a seal cruise - was lovely but staying 2 nights in Swakopmund took a night away from Camp Kipwe - and that was very bad planning - Kipwe is incredible and deserves a minimum of 2 nights.
Etosha is great but we were not looking for Game, so although I found some fabulous Meerkats at the lodge - I would rather have stayed 2 nights at Otjiwa.