Kimberleys & Kakadu when caravanning with a dog

Is it possible to experience the Kimberleys and Kakadu when caravanning with a dog?

I assume the way to do this would be the park the van in a nearby van park and put my best friend in a kennel. I am hoping there are others who have travelled with their dog who could offer advice.

Some may say "leave the dog at home" but the company she provides far outweighs the inconveniences.

Regards and thanks.
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