IME,, although it was for a short move, just bring in a few different companies for (guaranteed) estimates as every move is different and everyone I spoke to had a different company be the cheapest.
2 pieces of advice-
1. Go with a real respected company even if it costs a bit more
2.pay the extra $300-$750 extra to have them pack up for you. Your shalom bayis is worth more than that
Which part of Denver you moving to?