Yes. But not the jungle part. Only to Brunei which is part of Borneo. There were lots monkeys though in the garden! My son spent time in the jungle staying with a native family and saw much more than I did.
If you do go i would consider spending a few days in Brunei to see the sites the streets are literally lined with gold! An amazing place. I was lucky i stayed with my son friend's parents who showed me around . His Dad worked for the Sultan of Brunei.
Son said the worst thing about the jungle was the scorpions in the house!
I went to Borneo and Malaysia about 15 years ago and it was amazing! We [me and my then 10 year old daughter] stayed at the Rasa Ria in Kota Kinabalu. It used to have a Orangutan sanctuary but I just checked and this bit closed in 2016. You could hear them calling out at night :)
It is a beautiful country with amazing people. So much to see and do or just relax on the beautiful beaches.
A definite yes from me!
Oh, and daughter did get a leech stuck on her but then she seems to attract the weird and wonderful lol Even the guide was amazed. This happened whilst climbing Mount Kinabulu. She also got bitten by a fish whist snorkeling in the South China sea hahaha