I spent weeks trying to confirm this.
i have a 96 R33 with 2006 marked rego papers. I couldn't find anyone in the RTA or an insurance company to go "yes, you are valid AND insured".
I had 3 out of 5 RTA staff members hand me change of record documents "just in case" the others gave me the RTA hotline. (What can indians tell me the RTA Teller cant??) I probably spoke to about 15+ staff members at 4 or 5 different RTA's from blacktown to Nowra.
eventually i found a family connection to an RTA inspector that said that compliance dates need to be on the rego papers and the inurance co needs the actual manufacturing date.
the simple version is that RTA work on logs on appearance in their system and Insurance works on car details or something like that.... it was explained but is much more complicated than you'd think.