I've visited all of those destinations except Cooktown as part of a land based holiday. Brisbane is big compared to the rest and I'm not sure what facilities would be at pier side or how far out from the city centre the ships dock. the rest are fairly small and easy to get ashore. Both the Queensland Tourist board and the Australian Tourist Commission are fabulous. I've been to Australia 4 times and always organised everything myself, with the help of these 2 agencies. Go to their websites or call them and they will be more than happy to let you know what is available and how you book it. have a fantastic time - Queensland is stunning and very varied.
Thank you for your reply. Very much appreciated. I will look into the websites for help.