There are several businesses in Costa Rica which specialize in shipping household goods and / or vehicles to and from Costa Rica. Selecting which one to use is a personal preference.
Some companies can provide complete services, including packing, shipping, importing (into Costa Rica) and delivery to your new location. Some will provide estimates and / or give you information about import duties and costs.
We suggest you to do a diligent web search using the key words, “household goods/shipping/costa rica”. It will provide several options for further research.