Some companies are happy to give you a ball park figure over the phone. They calculate the quote based on number of rooms, garage, shed, garden furniture etc then add the distance to your new house. Most wouldn't allow you to book them without coming round for a proper assessment but it's enough to give you an idea about whether you might want to do your own packing or ask them to do it.
Try an online quote service too like
this one BTW Do get insurance, I've heard so many horror stories!