Perth to Cairns best route.

Morning all
I’m looking for some advice. We are about to embark on 3 month trip from Perth to Cairns and return. Unfortunately there are so many options I am in quite a quandary.

I’m driving Landcruiser 200 towing a 20.6 full off road caravan. Happy with all types of tracks provided they are wide enough for the van.

I’ve done across the top, Great Central Road and Eyre Highway a few times.
Our main aim is to do the coastal areas from Port Douglas down to say Port Macquarie then head west and back home via the Darling River Run.

I would like to do the Coongie Lakes at Innaminka so will do that via Eyre Highway and the Flinders Ranges. It’s the route from Innamincka to Cairns that I am seeking advice on.
I’ve done Winton and Longreach previously so was thinking maybe a route a little further to the east.
We enjoy hikes and the scenery and are happy with bush camping.
Any little gems of camping spots or caravan parks would also be appreciated for both the inland route to Cairns and then down the coast.
Thanks Craig