The easiest route from the Kgalagadi will actuallly be via Namibia. But you mention that is out of the question.
In that case, it will be the R360 South. Kgalagadi -> Ashkam -> Upington.
From Upington, N14 west. Upington -> Kakamas -> Pofadder -> Springbok.
From Sprinbok, N7 North. Springbok -> Steinkopf.
These are all good, tar roads.
From here you have two options:
Option 1: West on the R382 until the dirt road to Eksteenfontein. Eksteenfontein -> Sendelingsdrift gate.
Option 2: North on the N7. Vioolsdrift -> dirt track next to the river -> Helskloof pass (the Eastern one - there are two Helskloof passes in the Richtersveld) -> Eksteenfontein -> Sendelingsdrif gate.
Both these options are dirt road (well, option 1, the first bit is tar and option 2 is tar until Vioolsdrif).
Out of those two options, I would use the second one.
There is a trip report from one of my trips to the Richtersveld here:
https://patrol4x4.co.za/viewtopic.php?t=9182
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