Welcome Gwakie.
If you want to spend a night out in the mountains in those parts consider sleeping in Sentinel Cave, or at the top of Beacon Buttress Gully (take water with you), or even a couple of hundred meters North of the Chain Ladders at the Elands River Falls (not too far North though cause because you soon run across two passes used by locals). If the crime bothers you do not camp in the Tugela basin. The further away from the Falls and the hut, the better. The theft problem up there has been going on for many years and it happens frequently.
Answering your last question, you can make a loop via Beacon Buttress Gully and the Chain Ladders, but the approach to these will have to be doubled back the way you came. There are passes in QwaQwa a little further North, but I wouldn't consider them for this trip.