I have wanted to go to Namibia for a long time but my cousin and her family beat me to it last month.
They stayed at Soussevlei Desert Lodge which looked most acceptable, with their verandah adjacent to the desert.
4×4 on the dunes, ballon ride, safari drives. They rented a car and flew Air Namibia, one of the best airlines in Africa (ok, not saying much…)
QR go direct via DOH, but not daily, so you need to check the schedule to avoid a extra stop in South Africa (which would be on Air Namibia, so no hardship)