See the following thread, posted earlier this month:  http://thegreynomads.activeboard.com/t58370538/road-to-the-cape/

We plan to do the cape in 2016, but we will be towing a Kedron on road caravan.  I know of a grey  nomad couple who went up last year, they left their off road spinifex at Laura, and only travelled up in their F250.

In my opinion, I don't think any on road van should be tackling the cape

I totally agree with Peter & his advice. The 2nd time we went we tented it again mainly because the couple were venturing up there for the first time as well as being new to caravanning. Do not go in school holidays & try to go early June after grading. Take it easy & enjoy the trip. If at all corrugated be extra careful on the corners & watch for dust in the distance which will tell you of on coming traffic & keep your lights on at all times. Even if the dips looks OK with maybe a small amount of water, slow right down as you can do major damage if you hit unseen holes. One disadvantage towing your van will be not able to go into some of the coastal spots. Another real problem for all travellers is having to book/pay online for your camp sites. It is impossible to work out what days you are going to be at a certain spot- nothing worse to have to keep to a time table if you decided you want to spend a few more days somewhere but can't because you have paid for a site up/down the track.