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Yeah 6 days will be enough but the 10 days home will be much better to see more things.

Perth - Kalgoorlie 590km
Kalgoorlie - Cocklebiddy 620km
Cocklebiddy - Penong 690km
Penong - Peterborough...

Mate, my advice would be to drive the trip both ways. You won't need long range tanks, a UHF or a second spare if you're sticking to the highways. Make the time to do the trip both ways if you can...