Buses depart from Rosebank in Johannesburg at 9am with a frequency of every 30 minutes. Last departure from Rosebank is at 15h30.
The last departure back from the Apartheid museum (the furthest point) in the evening is at 17h25
A detailed timetable is available on the South African website - click on the magnifying glass on the top right and follow the link from there
Buses are regular and on time. Check their website for latest and updated times. But they usually run every 30 minutes or so. Enjoy!
They were really regular, I would say 20-30 mins. The side trip to Soweto is not so regular! The timetable is online for you to look at! Enjoy!
It varies during the day but around 1 per hour, less for the Soweto leg. I think the timetable is online.
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