I also run a freight forwarding company and have worked in the industry for 25 years.
From experience ( as the forwarder, not the customer fortunately) but you absolutely MUST get your import permit from DOTARS first before it leaves the country.
I recently shipped an Audi back to the UK that had been sitting on the docks for 8 months as it was rejected by Customs from being accepted into the country because the owner failed to obtain a DOTARS permit. Total cost for import, storage and re-export - about $10k.
If DOTARS issue you a permit, the car can be registered and driven in Oz. If not, it can never be used.
The import process after that is simple. Book it and ship it. You (our your appointed import agent) will need your proof of ownership and registration etc and the DOTARS permit for Customs purposes.
I can personally assist. If so, email me directly -
edward@selectfs.com.au