The biggest mistake families can make in Namibia is trying to fit too much into one itinerary.
Epupa is remote. Getting here takes time, and that is part of the point.
If you arrive late in the afternoon, you do not need another activity squeezed into the schedule. Let the children get out of the vehicle. Let them run around. Watch the river. Have something to eat.
If you have enough time, stay for more than one night.
A slower itinerary also gives you room for the unexpected. A child finds an interesting beetle. Someone spots a kingfisher. You spend an hour beside the river doing absolutely nothing.
Those are often the bits they remember.