I want to travel again in the new year and am wondering if I should ask for permission again or just tell them where I’m headed. Worried “asking” if I can do it will give them opportunity to refuse.
Don't ask. Don't tell. Just do.
The company very obviously doesn't know where you are. Why would you go around telling them...?
Your Social Visit pass is for social visiting the fine social people of Malaysia. If Immigration asks tell them you are there for a Social Visit and maybe some Tourism as well.
Telling them you are there for work won't go down well.