The main road on the west side of the Panhandle is very easy to get along in a 2WD; it's all tar and maintained to a high standard. For anywhere else in this area, you really need your own fully-equipped 4WD.
There are several buses per day which ply between Maun and Shakawe, stopping at the main villages on the way. The whole trip takes about 7 hours and costs a total of P40. These will turn off to the larger centres, like Gumare and Etsha 6, but just pick-up/drop passengers on the main road near the smaller villages. Most go from Maun to Shakawe in the morning, and back in the afternoon – but ask locally for more precise timings.
There are small airstrips dotted around, so if you charter a plane you can get to most places here: Shakawe, Nxamaseri, Nokaneng, Tsau and Guma Lagoon. The Tsodilo Hills has an airstrip, but you really need a vehicle whilst you're there to get the most out of it. There are no airstrips anywhere near the Gcwihaba or Aha Hills.