First off, Take Daniels book and use it only for fun. As it has nothing to do with your monitor. Don't get me wrong, I really like Daniel and his books, but again, he and his books are very very weak when it comes to monitor behavior, captive or otherwise.
As biologist, we HAVE to make animals FIT a catagory or a explainable nitch. Unfortunately, as humans, we are VERY poor at that. For instance, take aboreal, As Mike said, it means little in your cage, unless you go hang your cage high up in a tree. Or In you live in New York City in a skyscraper and allow your monitor to see outside. If you keep your cage in your house, its NEVER going to be aboreal. EVER. Its just a cage. In fact in REALITY, all our cages actually represent a monitor STUCK in a small cave or tree hollow. It never is OUTSIDE. And sadly, monitors know this. But the people mostly do not. People somehow think if you decorate a HOLE(your cage) like some picture you saw, it becomes that. That could not be farther from the truth, your cage is still only a hole, a decorated hole(or cave). Remember, this is from the monitors prespective. If it cannot get out, it has to be a hole or cave, there is no sky or exit, they are stuck in a hole.
More on Daniel Bennetts(possible) miss-information. Is a lizard aboreal that runs up trees to escape predators, as many monitors do that? If They walk and feed on the ground then shelter and escape in trees, are they ground dwelling or aboreal?
Monitors are heat lovers. That is, actual high exposure is key to their lifes. In some forested areas, the only consistant heat(sun) exposure is in the upper canopy of trees. Yet that same species can and does use the ground or close to the ground in other areas, where there is plenty of heat(sun) exposure.
Lets take green iggies, lets take them, because I just saw this in nature. In costa rican rainforests, I saw them high up in trees, oh 150ft or more, up in trees, yet in other areas of Costa rica, I saw them walking on the ground. In Aruba(a desert island), they were very common in the cities and commonly used the ground and small buildings. Away from the cities, they used rock outcroppings and bushes. Baby iggies in all areas loved bushes at the edge of open areas. This example is a very good analogy to be used with monitors.
In all cases, these lizards use the enviornment, whether its up(aboreal) or down, (terestrial) to GAIN the needed support to live their lives. I mention this because this paragraph is the IMPORTANT part.
What Daniel Bennetts book FAILS at, is mentioning what is the important part. What is needed to support wild monitors, that is also needed(REQUIRED) to support all monitors, captive or otherwise. Its this information that is important to you, not whether a monitor is in a tree when the researcher or author is standing at the bottom(chased it up the tree)
Another example, in many tropical forested areas, the ground is Wet and most monitor species hate being wet(for long periods), so the only places they can find that allow them to be dry and hot, is UP in something. Off the dang wet ground. In wet areas, the only places that drains is up. In these places, they become aboreal by simple need. The need to find a dry place.
For instance, if you take a RUDI, its not build like true aboreal reptiles, its not long and thin, it does not have a long tail, thin body, long legs and toes that allows easy climbing and the ability to move from branch to branch. From its build, my guess is, as babies, they stay above the ground and as adults they use the ground a lot.
But then the reality is, As Mike mentioned, its not important in your cage. What is important is, what temps is any monitor seeking on the ground or in the trees? What type of hides does it required, not whether they're up or down, as thats not in your cage(your cage does not allow up or down), but wet or dry, or dirt or leave litter. Hot or cool? or the ability to get hot and cool, all while staying hidden. Its these conditions that are important and how they behaviorally use them. Not whether in Indo, a rudi is sitting on a branch 100ft up or on the ground. Your little fella is not in Indo. Period. Remember, in nature, up and down covers distances up to hundreds of feet, in your cage, your talking five or six feet. Five or six feet is not up in nature. Even true ground dwellers climb higher then that.
So what becomes important is not WHAT DANIEL SAYS OR ANYOTHER DANG BOOK. What is important is the information that allows your monitor to succeed,right where its at, at your house, in your cage
And that information is pretty much the same for any and all monitor species. They want the ability to choose from different temps(a temp range) and the ability to maintain proper hydration(a humidity range) they want the ability to feel secure(fit in a tight SAFE hiding place. And they want many of those. They want those in all the different temps and humidity choices.
Then lastly, they want to eat like a pig. Yes, they all want to grow up and pair up and make lots of babies. Thats what they want, captive or wild. They both want and seek to do the same things. They ALL want to achive their lifes goals(to recruit) and seek lifes main events.
The one thing different with captives is, they are not exposed to predators, at least non human predators. Don't ever forget, you are their main predator. Humans kill more monitors then any other predator. And they know it. Ok, thats a bit of an exaggeration, but we are a main predator.
So all I ask is for you and others, is to get real, I want you to understand that your cage is NOT nature, or will it ever represent nature. YOUR CAGE is only suppose to provide the basic needs of your monitor, then AS YOU LEARN, provide up to at least fullfilling its basic life events. To prosper, have good health, to grow, to achieve maturity, to pair up, to nest and produce offspring. That is their design, anything and everything else is open to debate.
Sorry for the rant, but its been awhile since I unloaded a decent rant. Again, nothing against authors of books that do not tell about what is actually needed to support varanid species LIVES. Captive or otherwise. And nothing against you. Cheers