I am frequent traveller from Mantin-Semenyih, basically it takes

Mantin town to Semenyih Tesco: Around 20 minutes (15 minutes if drive very fast and clear traffic)
Mantin town to traffic light where you can turn to Nilai/Pajam: Around 5 minutes
Mantin town to Staffield Golf resort: Around 10 minutes

We can only use Mantin/Semenyih toll to KL if buy Mahkota Hills, Pajam toll not recommended.