In the 1950's, the Cape Flats area (above) was the region Apartheid laws forced non-white residents of Cape Town into government built townships or informal settlements. There's a natural curiosity regarding how daily life is for residents of these areas. While I don't encourage tourists to try self-driving around them, there are a number of operators who can take you on a guided tour.
I recommend looking at AWOL Tour's bicycle township tour. They work with the non-profit Bicycle Empowerment Network (BEN), an organization whom promotes the use of bicycles around the Cape, and also imports donated second-hand bicycles for small business owners in the townships to sell. You first rent your bicycle from one of these local bicycle shops, and then you're guided around the Masiphumelele township by a local resident. Cultural connections include having tea in a resident's home and visiting local crafters and artists. This is an honest, no-frills, and insightful look into yet another part of South African culture while you visit Cape Town.