Ditto to Dean's observations. In the top half of the Northern Territory, V. gouldii is called "sand goanna", vs. "floodplain goanna" for V. panoptes, based on where individuals of the two species are most abundant. V. panoptes occurs on both sandy and hard-packing (clayey) soils, whereas V. gouldii distinctly favors sandy stuff. Neither species will make burrows in heavy gravelly soil if anything else is available. Generally speaking, there is almost no organic material (humus or mulch) in most Australian soils.
Australian outback sand is a lot finer than beach sand, and the only stuff that matches it very well in the western US is either the finest of windblown desert sand, or the higher flood deposits along rivers. In either case you need to watch the clay content -- too much clay, and there is a tendency for balls of it to form on the claws, which can lead to their loss.