Peter we did Cape Yorke a few years ago... not with our Topaz, but the Topaz is built for that kind of adventure. It's too big and heavy for the OTT, but the Development Road etc shouldn't be any kind of problem. Corrugations, lumps and bumps are the main problem. Make sure your wheel bearings, suspension bushes and shocks are good before you go.
Cheers
Andrew
Cheers
Andrew

