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6 night Namibia Itinerary Help

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I posted a message a while back and after getting great input from this board and the two others joining me on this trip, we would like to see the following things in Namibia (in order of preference):

At least one night camping in the desert (could be part of a hiking tour or something else)
Sossusvlei Dunes
Full day for activities in Swakopmund (sandboarding, microlighting, parachuting, etc)
Drive through at least some of the Skeleton Coast
Up Close encounter with a cheetah

Of course, this is a little much to stuff into 6 nights and this is the current itinerary I've come up with:

7/29 Arrive, night outside of WDH (Amani Lodge)
7/30 Drive to Desert - Sleepover night in desert (Desert Homestead)
7/31 More time in Desert/Sossusvlei? (Desert Homestead)
8/1 Drive to Swakopmund/Sossusvlei? (Swakopmund)
8/2 Activities (Swakopmund)
8/3 Skeleton Coast Drive (Somewhere closer to Windhoek)
8/4 Leave Early for Flight

Some questions I have:
- Is there a good location to stay after driving up some of the Skeleton Coast where I can make it back to Windhoek in a morning? Could I make it from Swakopmund? Our flight is at 2pm back to Johannesburg.
- Any other opportunities that people know about to camp in the desert? I don't mind picking up camping equipment.
- Is it possible to fit Sossusvlei and a drive up to Swakopmund in the same day?

This is probably a long enough post for now - any comments would be greatly appreciated. We're skipping the wildlife because we're heading to Botswana with the rest of the family for two weeks afterwards.

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