The coast road from Daintree through to Cooktown is fine for entry and exits of creeks etc. In October you won't get anywhere near the amount of traffic on the road as in June/July/August/Sept either. There are a couple of narrow winding sections as mentioned.
The track can be a bit cut up as you get nearer to the Bloomfield River crossing and Wujal Wujal. It is just rough if it hasn't been graded, but otherwise shouldn't trouble you. The road North of Wujal is good all the way to Cooktown.
To cross over to Musgrave Station, you take the Battlecamp Road, and then turn North into Lakefield NP itself, coming out at the far Northern side, before heading West to the Peninsular Development Road. Again, no issues for your camper there that I can think of. There is an easy creek crossing at the Northern end of the park that may have a low-ish few trees, but I think you'd be right anyway. The road to Musgrave from the Park was upgraded 2 years ago and was like a highway. Same as Battlecamp Road. Heaps of bitumen sections now and easy driving.
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