A roof top tent does have its advantages in that area because it is cooler to sleep in than a tent/swag as it is above ground which is also a definite advantage in croc country.
They are still a PITA to set up and stow away though and the added wind resistance will also add to your fuel bill as well.
The most annoying thing I usually encounter in that area are the mozzies and bugs at dawn and dusk so having some sort of tent at least gives you somewhere to go to get away from the little blighters.
Have you thought of just getting a cheap little pop up tent to use for the trip as these are much lighter and less bulky than the RV5, They are easy to set up and the money you will save on fuel by not having a rooftop tent fitted will easily cover the $200/$300 purchase cost of one of these tents.
Do you have an awning fitted to your 110?
Having an awning it this area is pretty much a MUST as shade is at a premium and in many areas you can simply chuck your swag under the awning and your camp is set up for the night
Enjoy your trip you will find that the Kimberly is an amazing place
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