Madagascar lies in the Indian Ocean, 400 km (250 mi) east of Mozambique (Africa). Australia is 6,000 km (3,700 mi) further east, separated by the entire Indian Ocean.
Madagascar split from Africa ~160 Ma, then from India ~88 Ma. Australia separated from Antarctica ~85 Ma. They share Gondwanan ancestry but have been on different plates for 80+ million years.
Madagascar: lemurs, fossas, chameleons, baobabs—Afro-Malagasy lineage. Australia: marsupials, monotremes, eucalypts—Australasian lineage. The Wallace Line (Bali/Lombok) and Lydekker's Line (Sahul Shelf edge) separate these faunal realms.
Madagascar is African by geography, geology, and biology. Australia is its own continent. The Indian Ocean between them is vast, deep, and ancient.