Is 来自 used in daily conversations? For example, if I want to say "I come from Malaysia." Should the sentence be 我来自马来西亚。or 我是从马来西亚来的。?
For people, 来自(came from) is more literary than colloquial, As your example stated 我来自马来西亚 is more literary and 我是从马来西亚来的 is more colloquial
However, for objects, 来自 is a common preposition for 'from' in day to day speech
這些橙来自加州 - These oranges are from California (the oranges didn't come here on their own, someone delivered them)
這病毒來自非洲 - This virus is from Africa (the virus didn't travel on it's own, someone carried it)