If you are paying tax in SG but legally tax resident in Malaysia then I believe the answer is yes, but that any tax paid in SG can be offset against your Malaysian tax.

Happy to be corrected on that.

but what if "If you are paying tax in SG but "NOT" a legally tax resident in Malaysia then what would the answers be?
(example: Malaysian not staying in Malaysia for > 182 days?)
Malaysia
Individual - Residence
Last reviewed - 14 December 2021
The status of individuals as residents or non-residents determines whether or not they can claim personal allowances (generally referred to as 'personal reliefs') and tax rebates, and enjoy the benefit of graduated tax rates.
Resident status is determined by reference to the number of days an individual is present in Malaysia.
Generally, an individual who is in Malaysia for a period or periods amounting to 182 days or more in a calendar year will be regarded as a tax resident.
https://taxsummaries.pwc.com/malaysia/individual/residence

Is the answers in the faqs?
Hv you read the link?

My guess n thinking only,...
Unless the amount you want to bring back is large n want to purchase high value asset with it.... Then declare it. Else just bring back bit by bit as permitted amount to bring back thru the custom control.... What is the max myr allowed bring back without declaring at custom?

i am more concern of the "massive" on the taxes applied to the amount of money one remit back from CPF savings upon reaching retirement age 

Usually if your an expat you should negotiate your package nett of tax which means all tax for the country ( Australia) is paid by your employer and arranged by your employer.

Companies sometimes dont regard you as an employee but as an external vendor ( e.g. cause you wont enjoy staff benefits like medical, etc) as such what they pay you could be without any tax deducted and they assume you will pay the relevant tax at the country of residence ( which in TS Wife Case Malaysia). So please check with your employer what they pay and did not pay,

Basically they treat you like engaging a foreign vendor and pay you a fixed sum per contract then you settled your tax at LHDN ( Malaysia)

If your working in Singapore ( means you stay in malaysia less than the prescribed period and is in Singapore for the prescribed period ) you will be a tax resident of singapore but not a tax resident of malaysia.
As such your not liable to LHDN. Proof can be via your passport. Transferring CPF money back is not taxable as long you have evidence and proof that its CPF money.

default penalty is 45% of additional tax payable

law says both remitted and deemed remitted