My DH's company pays all moving costs so we took everything.....it was around $22,000 including cars. The car was $1400 to transport door to door. Going into WA the car needs to be scrubbed clean, I went in one of the car washes that blasts underneath.
When we moved to Perth, I stayed at Mum and Dad's for a couple of extra weeks (it was just after Christmas) and DH was there for delivery of everything, including the car, so it was there when we arrived. On other moves though, DH's company payed for hire of a hire car and car seats.
Definitely take the bare minimum if you are paying for the move yourself. A friend I made in Perth moved back to Melbourne while we were there, and she took the bare minimum with a cheaper company and it was around $3000. She was very happy with them, I can find the name if you like?