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Darwin to Cairns - driving??

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Hi,

A friend has just suggested to me to join another few friends on a trip July 2011 driving from Darwin to Cairns. How realistic is this - know that it's a very long way and will take days to drive but is this worthwhile? Would love to see Katherine Gorge and Kakadu but once we get away from these is there much else apart from bush? She suggested that we may be camping which I'm not too sure about. Are there motels along the way? Could we rent an RV and use that or do we need a 4WD? So many questions!

Appreciate any help that you can give me.

Many thanks, Laura

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