Can.

Go early, take queue number. They'll give you a small yellow form to fill up.

Bring your old passport and mykad.

Make sure you wear dark attire. They'll take your photo there. Some officers very particular about certain things cannot wear. For guys, need to remove earrings. If long hair tied in a bun, the bun cannot be higher than your head. Have to re-tie, etc.
Some officers, cincai.
Mostly very friendly.

They say like wait for 1 hour to collect, after all the process including making payment. Just wait there. You'll see one by one the ppl in front of your queue getting their new passports in no time.

Remember take back your old passport. Sometimes need to carry along when you travel especially if you have visa for certain countries.

I've done mine at UTC Selangor, November last year. Reached before 7am. They opened at 8am. By 10am+ can be done.