Visited this place a couple of days ago, about 200 kms n/n/e of Perth.
Not listed in Camps, but I noticed on a current tourist brochure it shows a tent to signify camping, couldn't see any no camping signs anywhere, one long drop toilet at the cave parking area. This has a large turn around where you could park overnight, also coming in on the short access road to the cave I noticed a couple of large level bays cut into the bush on either side of the access track where you could park a caravan.
Short stretch of gravel to get into the cave area, one narrow vehicle track in and out can get a bit tight if meeting someone coming the other way as I did (someone with a camper trailer) A couple of "puddles" on the vehicle track going in not overly deep though. Photo's from the top only, cave area subject to rock falls, also cliff edge unstable. See below;