Absolutely. You have to take precautions, keep everything in sight. Leave in your hotel what you do not need. Never leave things in the car. But if you just take care, nothing will happen. Ignore beggars and in the evening take an uber of a legit Taxi and you will be fine. If you rent a car (I want to recommend that), leave nothing in the car and keep the doors closed at all times.
RE: My Holiday in South Africa (Cape Town) episode 2