Cape York is a just a short 48 hour drive (according to Google Maps) from the Queensland 4x4 Club house at Narangba.
Cape Yourk Tropical North Queensland website has a lot of information on
http://www.tourismcapeyork.com/explore/npa-torres-strait/
Of course for all 4WD'rs is the famous
some preparation reading!
http://www.cape-york-australia.com/old-telegraph-track.html
http://blog.mud-maps.com/blog/capeyork4wdguide
https://www.hemamaps.com/cape-york/tracks/old-telegraph-track-north