People make Cape York up to be something more than it is. I grew up on Thursday Island in the 90's, and every Christmas we would drive to Brisbane in our Peugeot 504. We even went up there with a box truck full of all our stuff when we moved there. There were river crossings that would be an issue if it had rained a lot recently. The Land Cruiser drivers (and there were a lot of them) were always wading in to check the depth. If you had a lightweight car like an L-Series or a 504, you could just aquaplane across.
The roads are way better now than they used to be then, so an AWD car going up there now is not an issue.