It is really great to travel with camels. The few ho did it alone in Africa (without a guide) spent a lot of time before with the nomads before they started.
Have a look at their books:
Michael Asher, Werner Gartung,Philippe Frey.
It is not easy to choose/buy a good tempered, healthy, not too old and not too young camel or to find pastures and water. Sources/wells are often hidden, you need a special equipment to get the water.
Maybe in Australia you can rely on the wells which are marked on the maps, in the Sahara you can not.