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I have crossed into Canada several times, and more than a couple of those were by accident. As an engineer for NY Telephone Company my territory covered a large swath of the Canadian border, and up there not all border crossings are "manned."

I was up in the St. Regis Reservation and took a wrong turn and wound up driving out into Canada. I just turned around and drove back, no biggie. I also was up north of Ellenburg looking for a power station that was going to "recycle" wood scrap from lumbering operations and burn it to generate electricity and I was on the wrong road. Calling it a road is actually giving it a significant raise. Anyway, I drove until I came to a paved road, and discovered I wa sin Canada, so I drove over to NY 189 and came back into the states the "legal" way. No issues with US Customs.