Route?
BTW have you researched your route? And are you intending to stick to sealed roads?
Bris’ to Darwin’s around 3500 Kim’s. It can be done in a few days, without too much hard riding. But better to take at least a week. So 3 weeks ther n’ back is quite do’able.
Would recommend a detour thro’ Kakadu National park, during the OW or return. If you’re camping expect to pay anything from 15 bucks/night (cheap) to 50 or 60, depending. In my experience a few places only charge the ‘extra person’ fee, as motorcycle and (small) tent take up hardly any space. But be prepared to pay what everybody else is paying. Irrespective of them having a bloody great big 4wd and double-axle van and who expect a full length concrete slab, so they can dive-on, drive-off ...
There is scope for wild/free camping, but be prepared to ride some way from the road.
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