Dear Haidi,
Hope you are doing well. It's glad to hear your trip plan.Nothern Austrilia is beautiful and wild. It's defenitely worth you taking several days to travel. Yes there are many wildlife but you don't need to worry a lot. Because you will be in a well protected car, you can take photos, and a professional guide will be with you. He will tell you to get off when he think is safe. You can meet the nature directly. It will be a wonderful experience in a lifetime. Sydney is great too, but it only takes you 2 or 3 days to have those sightseeings. I suggest you do not give up wild part. Go out and have fun.
Yours Sincerely,
Tom