Yes. Check with the staff at the rental branch where you collect your vehicle before departing. Failure to adhere to restrictions will invalidate all insurance cover.
Rental companies do impose restrictions on vehicle usage and these may include driving only on maintained sealed roads with strictly no off-road use and not taking the vehicle on a ferry.
Rental companies reserve the right to restrict vehicle movements in certain areas due to adverse road or weather conditions (such as Outback Australia and the Northern Territory during the Wet Season). There may be certain exceptions to this, your chosen rental company can advise you when collecting your vehicle.