We just spent some time around Cape Range National Park near Exmouth, WA. We really wanted to camp in the park but their screwy campsite system makes it virtually impossible to get a site during peak season. not to worry,the Yardie Homestead is right nearby and wonderful.
We camp in a small tent and don't enjoy the typical tent sites in Australia caravan parks where you are forced to camp on top of each other with zero space and privacy. At Yardie, we were given a large, treed site in the "overflow" area. It was wonderful. All that and warm showers, laundry and a pool. They also make any bookings you want for tours and Yardie is minutes from the boat ramp where the glass bottom boat tours and whale shark trips depart. Most tour companies will pick you up on the way and you will only spend 10 minutes in the car rather than the 30-40 minutes from Exmouth.