I could be wrong, but I think that as long as your property is fenced and has a closed gate. You can have a few beers and go four wheel drving ect. I did it alot as a young bloke. We used to go spot lighting, shooting foxes and hares and then drink drink a bit and camp. ( drinking AFTER we finished shooting). This was in QLD.
But if somebody got injured, the Police can and will come onto the property and do what they have to do.
Ps- different states have different rules.