Yo vinnie,
Me and the missus cleared our bikes (two years ago) ourselves in sydney, it took a bit of ping ponging about, but it was straight forward. You have to book a carnet and vehicle inspection, where they check if your not bringing in bugs or grass. All being well you should be gone in a day or two.
Thing about insurance is we did'nt remember to get it untill we were almost out again 8 months later. And nobody seemed to care. Because we got the bikes in through Sydney, as opposed to perth, they did'nt need to see insurance before you're free to go and thus, at your own risk of course, saving us alot of hassle.
Just our experience off course and take it as you may, but australia being divided into many different administrative ''countries'', the laws change depending on which state your in. Sydney happens to be the most relaxed.
All the best bud!
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