Hertz should offer rental but you might need to start it in the morning the following day and take taxi to your accommodation the night you arrive.
Search on facebook "kereta sewa kuching" group
I suggest using well known national / international companies. More expensive, but more reliable and safer cars.
I would suggest Hertz, Avis or Europcar. There are 25 other "no name" brands; that are often unreliable cars, broken, or personal cars with no proper insurance coverage.