Australians detained by Israel for trying to sail aid into Gaza have vowed to do it again, despite alleging "dystopian" conditions and human rights abuses while in captivity.

Juliet Lamont, Hamish Paterson and Abubakir Rafiq received a hero's welcome after arriving back home to Sydney on Friday morning, after more than a month at sea with the Global Sumud Flotilla.

Fellow Australian Bianca Webb-Pullman arrived back in Melbourne, still clad in her grey prison tracksuit, and rushed into the arms of her mother and her partner.

The quartet's ships were intercepted off the Gazan coast and the group were detained in Israel, where some allege they were assaulted and threatened, then deported to Jordan.

Mr Rafiq called the interception a "kidnapping and abduction", further alleging the detaine

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