Yes, they did. Fishermen from Makassar, in southern Sulawesi, travelled to the north and northwest coast of Australia for months every year from at least the mid-eighteenth century, quite possibly from the mid-seventeenth century and – according to at least seven contested, hard to explain but carbon-dated items – perhaps even from as early as the eleventh century.

The 17th-18th century voyagers went in search of trepang (sea cucumbers) which were from 1600 or so a highly valued exotic gourmet item in mainland China, and thus the peoples of Northern Australia became linked to a trade route that stretched as far north as Japan. We're much less certain that the northern coast had sufficient resources to attract earlier voyagers, though the Makassans traded for rare tortoiseshell there as well as for trepang. The relations between Australian Aborigines and the Indonesians were sometimes hostile, but for the most part very friendly - so much so that they travelled together, and a small Aboriginal "colony" existed in Makassar from at least the early 19th century onwards.

I wrote about the trepang trade and Aborigines in Makassar in detail here, with references. But Makassar is an area of particular interest for u/PangeranDipanagara, who may well have more to add to your query.