I had a similar experience with "Off Road Dreaming" tour. It was like that for us. But, to make sure it will be the same for you, it is better that you contact the tour and verify with them directly.

Very little if you choose to.

Hi, Greetings from Australia. My neighbour is from Israel and is a place I would like to visit.. There were 9 people on our tour, including us. The tour bus is small and could probably only carry around 15-20 people when full. We were the only Australians, the others were English, Swedish and German. I would recommend this tour because it is for smaller groups. The guide on the crocodile part of the tour is an interesting character. A good day all round.

I went yesterday March 15th. Fantastic trip. The only part not available for swimming was Wangi falls ( because of the wet season ) but we had 2 other opportunities to swim.

No toilet on the mini bus but regular stops either at cafes or with decent change facilities at the national park areas. Everyone is clear when the breaks will be to plan for their needs. The smaller tours are much better in my view than larger coaches where the toilets are often quite smelly anyway.

It’s all pretty good. There are options in some places for the slightly more adventurous. The awkward bit for some people was how to scramble out of the water holes!