Continental drift occurs over millions of years, by contrast indigenous Australians arrived approximately 65,000 years ago, so the difference in land masses would have been negligible over that span of time.
As other posters have said, at the time sea levels were lower, and while there would have been land bridges connecting PNG to Australia and Java, Sumatra & Borneo to SE Asia, journey by boat would still have been necessary, although the journeys would have been shorter than those required today.
The continents have more or less been in their same place during the entire duration of humans have been on Earth. During ice ages though, the water levels were drastically lower. So shallow waters today could have been passable by people walking, and there could have been more islands in between major stops. That whole area north of Australia and into Indonesia would had much more land for people to cross.
[The short answer is that they walked.](https://www.abc.net.au/news/2021-04-30/research-into-ancient-aboriginal-migration-across-australia/100105902) 60,000 years ago the sea level was much lower, and there would have been a land bridge connecting the northern tip of Australia to south Asia.
Interestingly, but tangential to this as it occured 50,000 years later – there are Australian indigenous tribes with oral history that reach back before the last ice age. At this time sea level would have been at least 30 metres below it’s current level and large tracts of land to the north and south of Australia’s current coastlines would have been dry land. Very loosely, they tell of a time when there were open fields to hunt in the place that is now the Gulf of Carpentaria, and a time afterwards when “the tide came in but never went back out” which correlates with the end of the last ice age. Absolutely incredible to have such a accurate and unbroken oral history as to be able to literally recount the ages of the earth.
[https://www.scientificamerican.com/article/ancient-sea-rise-tale-told-accurately-for-10-000-years/](https://www.scientificamerican.com/article/ancient-sea-rise-tale-told-accurately-for-10-000-years/)
[https://theconversation.com/ancient-aboriginal-stories-preserve-history-of-a-rise-in-sea-level-36010](https://theconversation.com/ancient-aboriginal-stories-preserve-history-of-a-rise-in-sea-level-36010)
Australia isn’t really in the middle of nowhere. North of Australia there are a ton of little islands and land masses leading to mainland Asia (see Papa New Guinea, Indonesia. Malaysia, and everything else in between). Just go into Google Maps and really zoom in a lot. If some of those weren’t connected by land bridges, surely thy are reasonable boat distance.
Despite lower sea levels, as far as we know there was no land bridge between south-east Asia and Sahul (Australia and Papua) during the Pleistocene.Therefore by boat. Sahul would have been over the horizon from the nearest point (Timor), but bushfire smoke may have indicated the presence of land to coastal travellers coming from Asia.
A lot of people are saying land bridges but from what I have read it was more somewhere inbetween. The water was indeed shallower but there were still great stretches of sea and, remarkably, humans became expert seafarers and made their way to Australia and the other islands by boat. Eventually the seas rose and they could no longer make the trips back because the distance between the islands became much larger and more difficult.
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