Accessibility to Eliot and Twin Falls / Captain Billy site

Hi All, We will be travelling up to Cape York in late August with a true/dedicated "Off-Road" caravan (20ft) for the first time and would like to know from fellow travellers if it is possible to get a rig of this size into either Eliot &Twin Falls or Captain Billy camp sites. Read the blurb on the Qld NP site which states no "caravans" but nothing about Off-Road vans. Have seen many blogs with Off-Road vans in these locations. Experienced 4x4 driver. If these are not accessible other suggestions around the Jardine River NP would be greatly appreciated. Thanks Tom
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