We took the Western Distributor to Yadboro on a fairly rough dirt road. I've taken a 2wd (Hyundai Excel!) down that road before, but I wouldn't recommend it. We were in a serious off-road machine and averaged 50-60 km/h, making the trip in about an hour from the sealed turn-off. One of the long gully road signs is down, a map is a good idea.
The campsite was actually really pretty, with fantastic views to the escarpment. I'd recommend staying at this main campsite rather than the small one at the start of the walk to the Castle.
The next day we walked from Yadboro over the Castle saddle to our campsite at Cooyoyo Creek. The approach to the Castle from Kalianna ridge has been significantly improved by a track diversion around the right of the escarpment, cutting out a sketchy rope-assisted scramble.
I had forgotten how scrubby this walk was, and how awkward some of the sections are with a full overnight pack. Here's a short, nausea-inducing video of some scrub-battling.
The traverse around the base of the Castle is particularly awkward, with lots of high steps over tree roots and squeezing between eucalypts. The whole walk is relentlessly uphill. Em put in an amazing effort, and despite wanting to turn around multiple times, stuck it out and made it to the campsite.
After setting up the tents, we grabbed some water and headed up the Castle. There is a fair bit of rock scrambling, a natural rock tunnel, and rope-assisted climbing to deal with, but all well worth it for the amazing views.
The next day we walked out to Yadboro, which was much quicker than the walk up. We were glad to get out fairly early since it was perfect bushfire weather - stinking hot and really windy.
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