The Kimberley is a must see place but, for most travellers, it is very remote. I have been to Broome twice, by air. Years ago my wife and I, and our two sons, did a road trip to Kununurra, via Darwin in our Mitsubishi van. It was over 8000klm, about 6000 miles - further than Miami to Seattle return. While in Kununurra we took a flight over the amazing Bungle Bungles. In Darwin we saw the annual Beer Can Regatta.
There are tours that can take people there but they seem to be, no, are, very expensive.
If you get the chance go there.