Mike,
I used DayTrippers for a daylong Cape Point tour which stops at Simon's Town for the penguins and other highlights, and enjoyed it. Hiking and biking options are available on their tours. Cape Point is certainly easily driveable if you rent a car. The Cape Town hop on hop off bus is great to get around the major sights in Cape Town, Table Mountain, a few wineries, and Hout Bay if you don't want to rent a car. Don't miss Robben Island, where Mandela was held, but look into getting tickets online a week or two ahead of time. This trip takes a half day. I also did an interesting Township visit with a local educator, can give you her info if you're interested.
P.S. "Cape of Good Hope".
