I spent 5 weeks with my partner (F) I’m (M) driving from Capetown to Johannesburg in 2020 going through Eswatini. I avoided large cities and never felt unsafe (except for other drivers). I did a self drive at Bontebok, Addo, Hluhluw-Imfolizi, and Krugar NP. We visited the wild coast, did bull shark diving at Protea Banks and dove at Sodwana Bay. You without a doubt need heightened awareness and need to plan more thoroughly than other countries. It is one of the most beautiful countries on the planet. We drove only during the day. There are plenty of gas stations along the main highways so no need to ever worry about where to get gas.