Hi we used Wallenius Willhelmsen Ro Ro in April this year on our RTW trip , Left Southampton docks and delivered in Baltimore. rode the bike onto the docks , booked in at the office , left the keys in the bike and walked away , very easy no problems. You are not allowed to leave luggage on the bike, panniers and top box are ok but empty. You may need the new V5C , but i would think just the orginal V5 would do the job as all the new V5C's are not due to be rolled out untill November 2012 . I would check on that.
In the U.S we cleared the bikes ourselves , a stroke of luck found an officer named Barnes who described himself as the last of the dinosuars, a few questions on the bike ( emmisions etc )and what our intentions were and the job was done ( about an hour ) We did have a return air ticket ( new york/London) as they like to see you have an exit plan, even though we intended to leave via Seattle to Vladivostok. We had with us the V5 and U.S insurance.
To have used a shipping agent would in this case taken longer as they need power of attorney to do the work on your behalf, more time and more money .
At the port you will need an autherised agent escort, as since 9/11 you will not be allowed in. The port fee,s $160 and the escort was $40 an hour and again we got very lucky and was free in an hour and a half .
Make sure the bike is very clean and have an exit planned and all bike documents and you should be good to go

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