Sure you can. I have done this a few times. Just that the 3-4 hour drive along PLUS between Singapore and Malacca each way is quite boring, I have taken every variation possible, like taking the Jasin, Tangkak, Muar and even Alor Gajah exits. Each option adds time to the journey. I have also driven from Malacca to Jasin and Muar. To avoid having to drive the 3-4 hours on PLUS, you can do just that. Malacca-Muar is only an hour.
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