driving down yourself would still be the cheapest way, albeit you need to spend time especially if you're afraid to drive.

towing costs can be in the hundreds. imagine within state also need 100-200+, cross state you're looking at much higher price.

do a search on LYN on long distance driving (there was 2 threads with many pages of discussion on tips and advises on how to deal with long distance driving and how to prevent from being sleepy.)

quick advises would be drive in the 60-100km/h (kancil, and again, you said you're afraid to drive) and keep at the furthest left lane and only over take slower vehicles than you.
be patient, even if the journey may take very long however all that matters is that you get there safe and sound

consider maybe 3-5 hours trip, and plan accordingly. maybe drive early in the morning, so you'll reach by noon.
make periodic stops at R&R to refresh yourself, wash your face/take a piss/get a drink  etc.
constantly monitor your temperature levels, check your water levels in coolant tank (DO NOT open the radiator cap) when you're at the R&R, check the engine oil dip stick to make sure that it's at appropriate levels (never over fill, however never below L(ow) levels, in between at middle point is the best. take note, after long distance/driving for a while and checking engine oil level you will probably see it being much lower or even around the L levels, that is normal as the oil is already cycled around the engine/moving parts. a best way is to check engine oil levels BEFORE you even start the car (or after 2-4 hours the car engine has stopped) on a flat surface if possible.

last but not least, make sure your petrol is enough even if you're driving a kancil that seemingly will never run out of fuel
and maybe have some chewy food or even a partner to accompany you along the journey which you may even swap driver if you're too tired or at least chat with you to keep you away from boredom/drowsiness

Why afraid drive to Penang?