I researched it a couple of years ago. It is a huge park. The best way to see it is to drive it yourself over several days. Never leave your car - you could be eaten! There are numerous secure areas for overnight camping or cabin rentals + food etc. Most roads are gravel & all have a 40 mph speed limit which is strictly enforced.
For the less adventuresome, there are numerous private camps that ring the area outside of the park. They all offer safaris, accommodations etc but at a much higher cost.
There is a Kruger Forum:
SanParks
I ended up not going due to security concerns in Joburg etc.
Ian