In my experience, DHL is the best, FedEX is also ok.
UPS there were some issues in the US about customs clearance and so on.
However, DHL has the best customer service hotline which teaches you how to declare your items and also pack it. Or you can head off to their service counters. The best thing is they provide next day delivery anywhere in the world with real time tracking. Fedex usually has some delays and tracking problems.
Price wise, both are very expensive, be prepared to pay RM 100+.
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