While trekking through the bush in Dudley, Lake Macquarie, I noticed a young poison peach tree (Trema tomentosa) near some lantana (Lantana camara). I took advantage of the situation by comparing the two for future reference.
Leaf wise, they are quite alike but with poison peach leaves being more elongated. They main notable difference when they are growing upright from the ground (not that common for lantana) is the leaf arrangement. Opposite for lantana and alternate for poison peach.