Most people do the Tanami quite quickly(the NT section at least). In NT Newhaven
https://www.australianwildlife.org/sanctuaries/newhaven-sanctuary.aspxis only half a day from Alice, other wise there is not much to access along the way unless you have a reason to visit a Aboriginal Community or a gold Mine, and you will need a permit. Yuendumu is a large (largest?) community in Central Australia however is not really a tourist destination. Fine to go to the shop and get fuel with out permit to visit. There are a few pull overs where you can camp overnight, however there are no facilities (water/loo) as far as I know.
Into WA you can access Balgo and Billiluna communities, or from Billiluna head down to camp at stretch lagoon or lake Gregory
http://www.parukuipa.org.au/, permit required. might be a good opportunity to see what the top end of the Canning is like in case you have dreams of tackling it some time.
Wolf creek is up the road a bit, I reckon it is great however my wife refused point blank to even consider the merest possibility of camping there, and she has not seen the movie!
We visited the Kimberley for the second time recently. As a couple that like some solitude and the Aussie bush at its best, we had a great experience at Mt Elizabeth Station, as well as Mornington Wildlife Sanctuary, there are other great places too, but these stuck out as highlights. Great bush and Birds, great exploring. Both of these are a bit off the GRR, I think it took over an hour to do the 30ish km to Mt Elizabeth, and the drive into Mornington was about 2 hrs, but the road was well graded. Great drive in, as well, lovely country.
And Mt Barnett was most expensive fuel we came across.
Hope that gives you some food for thought.