If you are planning to see the Cape on a day trip from Cape Town, plan for the whole day. I would recommend that at least one way, you do not take the highway but the coastal road. It is easy to find and to navigate. Especially the Chapman's Peak section right south of Cape Town is spectacular.
Also stop a the penguin colony at Simon's Town. Once you reach the Cape, there is the actual Cape of Good Hope, Cape Point Lighthouse (with a great view) and the actual Cape Point (about 30 minutes walk from the lighthouse). One of the greatest day trips from Cape Town.
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