Marc, Daintree has sealed road as far as Cape Tribulation.
We did the trip a few years back and got caught in a winter rain event on the way back the inland route. Had to take some serious diversions north of Emerald because roads were flooded.
Undara Lava tubes and Age of Dinosaurs around Winton are worth a visit if there’s any interest in the long way around
Just remember that inland it can be bitterly cold in winter, as you’ll know from AstroFest…