Now that would be a fantastic trip. We did Perth to Cairns in a 23' sloop and loved the Kimberley area. We'd love to go back and do it again in either Mico or Australis in a bit more comfort! - although it's funny what you get used to - that small sloop did the whole trip in some pretty wild weather - hand steered all the way with us taking turns sleeping with our head in the toilet
Australis has two ensuites with one containing a bath!
Gawd - we're going to be ruined comfort wise