Derby - Windjana & return or Fitzroy Crossing to Windjana & return

Hi, we are travelling from Kununurra - Derby via the highway in August. We have a 4WD but will be towing an on road van, hence no GRR, however we would like to go to Windjana Gorge & Tunnel Ck with our tent. We are obviously going to have to back track one way or the other. Is there a preferred way to go - either leave the van at Fitzroy Crossing and go in from there or go on to Derby and then head back? Also where to leave the van for a couple of nights in either place would be appreciated too. Thanks Rachael
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