Semporna is located at the East side of Sabah, you can travel with plane from KK to Tawau, and take a boat to Semporna island. The flight is 1 hour +. Or, you can drive and shoot on your way there, Google is correct, need around 9-10 hours drive. But 5D4N to climb Mt. KK and Semporna is abit rush.
I climbed Mt. KK in 2D1N. Wake up very early and go to Mt. KK, climb and rest near the top for one night. Then start climbing to the top early morning at 1am to see sunrise, and return to the base in the afternoon. If you really strong, you can do it in one day, go straight up the top without resting and come down, but will miss the sunrise.