If you’re starting in Windhoek, there isn’t one single “Epupa road.”
You’ll first need to travel north towards the broader Kunene region, generally making your way towards Opuwo or Ruacana, depending on your itinerary.
A sensible self-drive itinerary might look something like:
Windhoek → Etosha → Opuwo → Epupa
or:
Windhoek → Etosha → Ruacana → Epupa
Don’t underestimate the distances.
The current lodge information estimates approximately 10 hours from Windhoek to Epupa, and around 11 hours from Swakopmund, under normal driving conditions.
Those are driving estimates, not recommendations to complete the journey in one heroic day.
Namibia rewards stopping.