Magaliesberg overnight hikes

Upper Tonquani and Cederberg, next to Mountain Sanctuary Park are real classics in my opinion. A permit must be obtained from the MCSA before the time for non-members (unless members are present and the one member-one guest arrangement covers all non-members in the group) - this is also the case for Castle Gorge.

There are several places open to the public in addition to Mountain Sanctuary Park. You can camp at designated sites at these places though not necessarily out in the wild. These places include: Bergheim (providing access to Fernkloof), Kranskloof (Bartlets farm), and Kumbagana (I'm not sure that the latter offer tented camping). Kranskloof is the upper section of what is otherwise known as Grootkloof - you can camp there too but this also needs an MCSA permit for non-members. Kumbagana provides access to the upper section of Hamerkopkloof (the lower half is owned by the Hamerkop Mountain Trust - the Joburg Section of the MCSA has a legal servitude to access the kloof but does not issue permits, though each member may take a guest along).

Kgaswane Mountain Reserve offers two very scenic overnight trails - which are hutted, not tented.

Welcome to VE Presley.

I have merged your post with an older thread which may give some ideas, please have a look through the older posts.

The Magaliesberg Traverse does present a land access issue, as vivo101 has mentioned. There is a separate thread for it on this forum. Note that some farmers will not take kindly to you accessing their land without permission.

Consider the more established areas and routes below:

Kgaswane Mountain Reserve has two, hutted overnight trails, both of which are scenic, and there is game to be seen. The Baviaanskrans Route is the one that takes you close to the waterfall which is otherwise out of bounds.
www.tourismnorthwest.co.za/kgaswane-mountain-reserve/

As mentioned, Rustig also offers an overnight hike on their privately owned land:
www.rustig.co.za/13km-overnight-hiking-trail/

You can access Fernkloof through Bergheim resort. Generally this is a day hike and you camp at the resort but you can ask them about overnight hiking in the area - though, you very quickly cross over into other private property from there.

The MCSA owns, and has access to, some of the best spots for hiking, kloofing, and definitely for rock climbing. They do offer permits for accessing some of these for non-members.
The links and maps that vivo mentioned are here:
mcsajohannesburg.org/climbing-and-hiking-venues/nw/
mcsajohannesburg.org/maps/
Of the various MCSA venues, the Cederberg-Tonquani-Boulderkloof areas as well as Castle Gorge are definitely very worthwhile for overnight camping, but these are not the only options. Again, please respect the permit system and consider the land access issue, especially when accessing these venues. The MCSA puts in a considerable effort to maintain this access for hikers and climbers which includes a lot of negotiation with other private land owners.

Please also have a look through the Magaliesberg day hiking thread for further ideas.

In addition to the land access issue, please also be aware that there are security problems that hikers and climbers face there. Some updates are posted in this forum from time to time but please inquire at the venue where you intend to go about the current situation.