Hi
@NoWorries, we did the GRR July 2016 and took the van.
You can leave your van at drysdale before going on to Mitchell Plateau, but we left ours at Ellenbrae (Logan was awesome. has an area around the back and let us leave it there for free) due to the kalumburu road condition. You can't take vans there, the road in places is steep and has tight turns, also the camping area is just that.....designed for camping.
People had campers in there, but we just took 3 biker swags, 2 tents and the engel. Got the swags off eBay (weis something brand, which are great quality) and had a kings roof top bag filled with bedding, and 2 jerrys of fuel on the roof rack. Just remember, one persons view of the conditions can be very different to another. One person tried to talk us out of going, but another group found us and told us it was fine, they just returned that arvo. Think it was 7/8 hours in and 6 hours out. Was only bad on the first 30km of the kalumburu road, then it was fine. Found beach tracks in worse condition.
I put some foam on the pipes to protect them, and covered the vent on the step. Got no dust in the van, and the only breakages was our pot draw plastic bit that holds the runner (I had heavy saucepans -baccarat ones- in there), our drainage pipe got a crack in it (miracle tape, a toilet roll tube and gaffa tape fixed it....still good today) and all but one lot of brakes needed to be clipped back on. Would have loved a stonestomper, but funds didnot permit it, however the box on the front protected the van very nicely. Got more stone chips from travelling on the road. Fuel was pricey, we took our own water and found all the recommended walk times were for people with zimmer frames!
And remember, a dip in the road is like a gorge. They are big. I slowed to 20km/h on those and stuck to 70km/h ( car seemed to know what speed to do. Slowed to 30km when it needed and sped up to 85km on the flat bits). Passed a few cars and plenty of campers with problems, but then they were the ones who sped passed me at 100km and never slowed. They also didnt let their tyres down.
All in all, had a great time. Just remember the camping shovel to help build your fire and plenty of marshmallows. The wood you collect out of the campsites, so if you can just collect it near the entrances. I also bought an RACWA annual parks pass, and that paid the park fees. And, visit the bank and get bags of $50 in smaller amounts made up. At our 2nd stop (bells I think) the rangers wife gets alot made up for people who forget, like me!!
Our van is the 21-64 OB (3.1T loaded and 10.5m full length from front of drawbar to the end), and was chockers full of food for 6. We fitted no worries at all, but at Manning, get there early for the pick of spots. It fills quick and that will make it hard to drive thru, as there are some people who are not very considerate.
Just returned yesterday from a trip north still using the same original tyres it came with back in Xmas 2014, so couldnt have hurt our van too badly.