Day Trips with small kids in Margaret River

I’m spending almost two weeks in the region with two small kids. I’ve been here a couple of times before so I have a good idea of what to do and see. This time, I have a Nissan Patrol as a rental and want to see if anyone has advise on spots to visit or day trips to do with a proper 4WD. Not looking for anything extreme off-road just some recommendations on spots to visit.