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The message on Raafs beach - which is likely a reference to the words from the Queen's national address about the pandemic in April - is a collaboration between the sand artist known as Edward and Tourism Australia.
Although Australia is beginning to open up again following tough coronavirus restrictions, its borders remain largely closed to international visitors.
The message on the beach looks forward to a time when Australia can once again welcome international tourists.
Tourism Australia managing director Phillipa Harrison said of the artwork: "Edward's artwork beautifully captures what all Australians are feeling right now - that so many of us miss our families and friends in the UK and all around the world.
"But like the message in the sand, our separation is only temporary, and we are very much looking forward to the moment when we can welcome our extended family and friends in the UK to Australia once again in the future."
Travel from the UK to Australia may likely be some way off, but this month New Zealand agreed to establish a quarantine travel corridor to Australia in the first quarter of 2021.
New Zealand Prime Minister Jacinda Ardern said: "It is our intention to name a date in the new year, once remaining details are locked down.
"New Zealand currently has the lowest Covid-19 mortality rate and lowest number of active cases of OECD countries."
Australian health minister Greg Hunt said: "We understand it may take a few more weeks, but we are working constructively and patiently.
"New Zealand has been a great partner and I have previously spoken with my counterpart in New Zealand, they have done well through the pandemic."
At present, New Zealanders can travel to most parts of Australia without having to self-isolate, but they do need to quarantine for two weeks when they return home.
Australians are not allowed to travel to New Zealand.
When international travel does resume, tourists may need to prove they have been vaccinated against Covid-19 before being allowed on a plane, according to the CEO of Australian airline Qantas.
Speaking on A Current Affair, airline boss Alan Joyce said: "We are looking at changing our terms and conditions to say that, for international travellers, we will ask people to have a vaccination before they get on the aircraft.
"Whether you need that domestically, we will have to see with Covid-19 and the market but certainly, for international visitors coming out [of Australia] and people leaving the country, we think that's a necessity."
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