13 January 1997
After a visit, that only lasted a few hours, by then President Nelson Mandela in 1996, Togo and South Africa set the platform to establish diplomatic relations. President Mandela met then President of Togo, Gnassingbé Eyadéma, to review the situation in West Africa. A year later, on 13 January 1996, diplomatic relations were formally established between the two countries. Togo does not have ambassadorial representation in South Africa, and South Africa’s Côte d'Ivoire ambassador, based in Abidjan, and is accredited to Togo on a non-residential basis. South Africans still require a visa to enter Togo.
References

IRC, Togo (The Republic of), from International Relations and Cooperation, [online], Available at www.dfa.gov.za [Accessed: 26 November 2013]|Kalley J. A., Schoeman E. and Andor L.E (1999) Southern African Political History: A chronology of key political events from independence to mid 1997. Greenwood Press, USA, pp 455