We went with Tagalong Australia to Cape York. The car was very reliable and the camping gear was ok.
But the car was not suitable for real 4WD because 2 points:
First it had no rated recovery points on vehicle - so we had no chance to pull the car. And second the UHV Radio was very poor.
If you go with Tagalong Australia, make sure, the car is realy ready for this trip, otherwise you block the whole group.
I definitly recommend Campers OZ for 4WD rental. Our car was well maintained, suitable for the Cape York trip. and the team is welcoming.