Hire a car in Windhoek preferably a 4x4 to visit remote villages. A normal sedan will reach Opuwo easily.
Actually with a capable sedan on good tires it is possible to reach Epupa Falls also - but do not attempt this in a car with poor tyres, and as there is one or two steep hills rear wheel drive is preferrable. I travelled to Okongwati in a 2WD fine [email protected]