I have used
www.carshippingcarriers.com to ship my Tesla Model S from Seattle, WA down to Tampa, FL. It went smooth and I I only paid $1200 for an enclosed hauler. It was worth every penny.
As far as tipping... you don't have to, but if you feel the job was done better then expected or faster then expected you might want to throw the person an extra $50-$100 for their time.