With all due respect to /u/legolili, they did not walk. They voyaged.
https://www.wikipedia.org/wiki/Prehistory_of_Australia
While the lowering of sea level joined New Guinea and Australia, it did not link to mainland Asia. Even at the lowest point, there was still a 90 km gap to be crossed.
This is why the animal population of Australia remained distinct from Asia. The division is known as the [Wallace Line](https://www.wikipedia.org/wiki/Wallace_Line).
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