Can I visit vineyards in Stellenbosch without booking a tour in advance?

I'm going to South Africa this month and will be in Cape Town for several days. Since one of South Africa's major wine regions is just outside of Cape Town, I'd like to spend a little bit of time there.
I've seen several companies that will provide tours along the Stellenbosch wine route. Many of these require committing a full day or multiple days to a tour; are there any vineyards in the Cape Winelands that I can visit without an advance booking of a tour?
I don't have a firm itinerary planned out (will partly depend on how jet-lagged I am!), but I'm looking for something between a half day and a full day. It doesn't matter much whether I have an official tour with a guide versus wandering around on my own and talking to vineyard staff; I'm happy to pay for tours and tastings, as long as I don't have to decide in advance. I'm mostly looking for the flexibility to wake up one morning and just go.
Best Answer
The Tour I went on was organised by Cape Town Backpackers, and was a small group with a driver/guide. We visited four vineyards of which I can sadly only find the details of three: Backsberg, KWV, and Tokara.
I wouldn't trying to squeeze more than four into a day as they're not exactly close to each other and at each stop we sampled between four and six wines with cheese, and normally two brandies with chocolate (seemed weird but the South Africans love it).
I checked the sites above and they all accept singles for tasting and you can join scheduled cellar tours.
Personally I'd recommend against driving yourself, unless you intend to spit everything you try, which in my opinion, would be a real waste!
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How many vineyards are there in Stellenbosch?
The Stellenbosch region boasts more than 150 wineries opening their cellar doors to visitor. Each offers a unique experience of South African wine culture.Which is better Stellenbosch or Franschhoek?
Stellenbosch was recommended to us by our South African friend Tony. Although Franschhoek's location (in a gorgeous valley flanked by high gorges) is more spectacular, it is very small (essentially a 1-street town) and hotels and restaurants are more high-end, upmarket affairs (boutique hotels and 5 star restaurants).Is Stellenbosch worth visiting?
There's a lot more to South Africa's second-oldest town than wine. Rich in history and culture, and surrounded by majestic mountain ranges and nature reserves, Stellenbosch has enough unique travel experiences to make it a must-visit destination even for those who are not culinarily inclined.How long is the wine Route in South Africa?
At 850 kilometers, Route 62 in South Africa is considered to be the longest wine route in the world. It is the historic inland route between Cape Town and Port Elizabeth, connecting the east and west coasts of the country.20 Things to do in Stellenbosch, South Africa Travel Guide
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