Export declaration departing Australia by yacht

[Icarus]

Hi
Just come across the need for an Export Declaration I will need when departing Australia with an Australian registered yacht.
Last time, 8 years ago, I departed from Australia I didn't need one, has anyone more recently required one?
Can it be done without an agent to save money?
I had a look at the ABF website it's a bit unclear to me.
The days where one simply notified the ABF of one's departure and getting the exit clearance and leave seem to got rather more difficult..more red tape
Has anyone done it more recently?
I guess on returning I need to get an Import Declaration?
Thanks in advance for any input on this.