Definitely.

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Australia was directly threatened by the plans of the Empire of Japan, which was waging a campaign of conquest south and west from their homeland, taking over as many islands as they could primarily in the pursuit of oil and resources they could then use to expand their war machine and industry. Australia was at the far end of their territorial ambitions, but was definitely a part of Japanese war plans.

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The Australian mainland was bombed from the air during 1942-43, around a hundred times all in. Japanese submarines operated against Australian shipping quite extensively for a good portion of the war. There were no real land operations to speak of, that is no enemy landings on the Australian mainland with one exception. A party of four Japanese officers performed a reconnaissance mission and left after a day.

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Germany was much more limited. German commerce raiders (That is, light warships used specifically to attack shipping) and U-boats operated in Australian waters during the war, though not in a major way given how far from Germany Australia is. While Australia did contribute to the war effort in a big way, Germany had other, far closer, enemies to deal with before they could even consider dealing with Australia and so by the time Japan entered the war it was basically left to the Japanese to deal with.