We haven't been there, but have been to the Mt Eccles NP, Victoria. There is a lava tube there & easy walk to from the carpark. Take a torch with you. We also walked around the lake, you need to be half fit. Don't do it on a hot day.
The surrounding area has tumuli lava blisters (see map). There is a lot to see, it is all easy to walk around & free.
Undara is well worth a tour. You don't have to stay at Undara resort but you do need to be accompanied by a recognised Savannah Guide. We went through Bedrock Village CP.
We have been there trice, once 20 odd years ago but this time in 2018 we stayed at Bedrock Caravan Park, did the tour with them and it was seriously great.
It is all positive with us as it geat experience and very informative.
At some point we hope to return and learn more. Just love it.
While we were up that way we did the Chillagoe Caves and that was awesome experience.
X2 with Radar & about going to Chillagoe.
Stop at the Chillago CP & enjoy their observatory too.
Also consider going to Cobbold Gorge & doing the tour.
If time is at a minimum at the Lava tubes, consider doing the morning tour. And if you camp at their caravan park, be careful that you don't trip over too many quoccas!
__________________
Warren
----------------
If you don't get it done today, there's always tomorrow!