Your going to want to search for "ltl" (less than a truck load) trucking companies that run out of your area. They are the ones you see puling double and triple 48' trailers down the highway. They fill their trucks up with a variety of items that wont fill an entire 53' trailer.
Many of them have tools on their website that help you get a shippng estimate, old dominion frieght lines is one. One major consideration is will you need lift gate service and/or residential pickup/delivery? Both those options can really drive up the cost (sorry, bad pun, lol.
Best of luck to you, if this a purely personal item being shipped, it may be worth looking at the uhaul method or maybe a cargo van. I went through this with some antique furniture and it ended up cheaper renting a trailer.
Good luck!
- Jeff