They might have been able to seize Darwin and hold it for some short time. Towards what end, though? Militarist Japan doesn't benefit from holding Darwin, it only benefits from making it difficult for the enemy to stage through that port, and that can be done just as well with bombing. No matter how much any PoDs increase Militarist Japan's military power and logistics, I think that's the most you could realistically get--much heavier bombing or even naval shelling, combined with efforts to cut the sea lanes between Australia and the Western hemisphere. Even if they have the power to stage an invasion, they still need a reason to actually do so. Plans for the invasion of Australia existed, but plans exist for everything. These plans were never seriously discussed or considered. The problem isn't that invading Australia is beyond their grasp (which is was, and again, they knew this), but that it wouldn't benefit them even if they magically pulled it off.
Therefore, I think the first step of any discussion of a Japanese invasion of Australia requires as a first step a PoD detailing not how they can do it, but why they are even trying. Just saying "they decide to invade even though they know they won't be able to capture, much less hold, anything of value, and they know they wouldn't benefit even if they did hold it" is ASB, you know?