Permits are required for entry or transit through some Aboriginal Land areas. This mainly applies in the NT, northern WA, SA and QLD. You may also need a "permit" to camp or enter some national parks. Kakadu was like this but they scrapped the entry fee. You will have to pay a camp fee though.
The Aboriginal Land areas are mostly remote and unless you are going well off the tourist routes you shouldn't have any issues. For example, if you wish to enter Arnhem Land you need a permit if it is outside of Kakadu. Most state maps will indicate if permit/restricted areas exist.
These Links may help:
Northern Land Council
CLC | The Central Land Council
MY15 Discovery 4 SE SDV6
Past: 97 D1 Tdi, 03 D2a Td5, 08 Kimberley Kamper, 08 Defender 110 TDCi, 99 Defender 110 300Tdi[/SIZE]
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