Cape York for a couple of mug punters

Looking for realistic advice from those who have done it. We are two mug punters who although we have been driving for 40 odd years but have only
have had 4wd for only past three - prime use to tow caravans with short overnight off road sorties to places that would wreck a conventional
vehicle because of ground clearance. Rarely had need to engage 4WD in that time except on beach sand and then only one minor problem (temporarily bogged )
on beach north of Broome.
Vehicles are 1999 Pathfinder V6 petrol & 2000 T/D Jackaroo.
Our question is how hard would we find the trip to the cape if we use commonsense - we have no intent to climb mount everests or
ford deep and unknow rivers/creeks unless we had very exoerienced guides to show us the pitfalls. We both have lived in country
areas all our lives and will tackle most things but we don't have a screaming need to destroy the vehicles just for want of saying "we've been there!" Is there a safe and practical way to get there with resorting to the rambo tactic of
here goes and to hell with the rest. That's a job for the young and reckless - our rigs have gotta last us a while yet!
One alternative is to travel with a tour company and let them do the worrying but we'd like to do it ourselves without taking stupid risks

With our limited experience, is this possible? We would expect to be in Cooktown around mid/late July - is that the best time for the likes of us?

We'd appreciate the forums advice

Cheers