Do I need a customs agent for a £100 gift? (EU to UK)

Hi

I am sending by truck a piece of furniture from EU to the UK and I was told I need a customs agent to handle the import.

But the furniture is very old and has no brand. It is probably £100 in value or even less.

Also, this is a "gift" sent from my EU address to my UK address (all under my name).

Do I need a customs agent for that?

Where can I find the cheapest way to handle that?