If you want to use a shipper, I highly recommend my broker, Henry Mezzetti.
www.hjmshipping.com. Henry just spent a week breaking his back to find a trucker for a difficult assignment I gave him, and he delivered. I've used him for multiple shipments and never, ever had a problem. His reviews on all the sites are stellar.
Your shipment should be easy - there are hundreds of trucks going up and down the east coast all the time. I would guess it would be a $500-600 job based on past experience. Weigh that against time, gas and wear and tear on your truck to pick it up yourself.
If you call Henry tell him "Jimmy from NJ" referred you.