Labor backs coal beyond 2050, page-154

Yes, Extra infrastructure will be required. And, no doubt, there will be some incentive needed to get people to plug their car in such as a discount on their bill. Things like wireless charging in parking spaces will also make it easier to execute.
However, these things are pretty basic, scalable and flexible. They are also the type of infrastructure that we will use for decades.

Using parked cars for grid firming is still a long way off. It is already being tested around the world but at the moment only a few manufacturers actually have a V2G option available.

This is where government and power companies need to come together and come up with a plan.

We already know that we have to change the grid to suit renewable generation. Enabling electricity to flow both ways. Enabling excess electricity to be directed to storage or alternate use automatically. And so on.
Unfortunately, we don't have everyone working together. We are have power companies doing their own thing trying to stay in business while attempting to understand mixed signals from government . We have individual states doing their own thing because the federal government wouldn't. We now have the federal government trying to take credit for what others did in the past despite the current government opposing it at the time.

And of course we haven't forgotten about the " it won't tow your boat " and " there goes the weekend " comments from just a couple of years ago.

It's a mess.

For sure the technology has a way to go but the path is quite clear.

Governments should be mandating things such as :

In ten years time every ev sold in Australia should have V2G as standard.

Distribution networks should have a percentage of storage , whether physical or virtual, to utilise excess generation and avoid curtailment.

By doing that you will have a storage support network ready to go that will seamlessly support the grid as it evolves.

Just those two things, which compliment each other, would provide direction for industry to build the basis of a new network at the consumer level.

Alas, I'm not confident we are that smart.