Apparently the stereotypical young car campers are the bane of Australia's east coast small towns and communities hold meetings where citizens complain about them. He told us however about a rest stop area with toilets and picnic tables about a 1 km down the road over a bridge that he figured we could just throw up our tent in. He had a very serious look on his face when he warned us not to go near the river due to crocodiles. When we got there, there were about 4 other camper vans (Volkswagen type) already parked and a sign indicating no tents allowed. We decided that it was a good bed and it was already dark so if we got up early enough we shouldn't have a problem. While cooking dinner (sausages and onions with garlic bread and pasta and chicken for tomorrow's drive) a police car drove through the park and said a friendly "hello" to us and didn't stop. We took this to be a good sign but wondered if they were just checking for tents. In any case, we had an uneventful sleep until around 5am when a garbage truck rumbled through about 6 feet...sorry, i mean about 2 meters, away from the tent and woke us up wondering where the swat team was to haul us away.
We were up by 6:30 and put away the tent post haste just in time for a town council "patrol" van to drive through and speak to all the campers in the park. "Did you sleep here last night?", he asked, "Yes" I replied. "But we didn't have a tent, we saw the sign" I said with a perfectly straight face. He handed me a piece of paper detailing the rules of the the park which was basically NO CAMPING and took down our license plate, my name and license number. He wasn't authorized to give tickets and I probably could have refused to show my license but I figured that just humoring him for whatever he wanted save for money would help out the next guys he comes across and we're never going to be here again. He was very friendly and offered me a list of RV parks that we could stay at. After he spoke to the other "campers" (who were not using tents, sleeping in their vans) I asked him about cheaper camping like "tent camping" that was free and he recommended a national park on Noah's beach which we ended up staying in that night.
Many young car/van backpackers/campers we have met have been met with similar warnings about camping. They fill up the parking lots but aren't technically "allowed" to sleep in their cars and must use window shades to avoid giving probable cause that someone is sleeping in the vehicle. It seems that cheap tent camping is hard to come by and must be booked in advance over the phone. Other differences are that fires seem to be generally disallowed in all parks and amenities are very basic with just a toilet and no shower house in the "tent camping" campgrounds.