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→North or South towards Kuala Lumpur, Singapore
The motorway is quite far outside the city and the public transport can be unbelievably inefficient. It can easily take 2-3 hours to leave the city.
First you have to get to the main bus station, i.e. by the local bus from Dutch Square.
From there, find the bus that goes to the Zoo (1B) and take it to that stop. These buses are not frequent - only 4 per day, so plan ahead to avoid waiting too long at the bus station, although there are many pre journey food and bathroom options. You are now on the main road that leaves the city. It's probably possible to hitchhike right from there, but cars are fast and won't know where you are going.
From the Zoo bus stop (ask driver to alert you and check your map) about a thirty-minute walk to a huge toll gate at the motorway entrance called "Ayer Keroh Toll Plaza" which makes an excellent hitchhiking spot and you are likely to get a direct lift to KL or the Singaporean border from here.
It's also possible to hitch out on the main road by the bus station. One hitcher, with a a big E2 TOLL sign, found a ride within minutes.