Not sure how this would fit your plans but we do have experience to share.
We entered at Port Huron/Sarnia which I think is a much better crossing than at Detroit. We had a dog and full RV, the dog very visible in the back set of the pickup. Just a few very courteous questions, no request for documents and we were into Canada. BTW, we had the documents!
We camped for 4 or 5 days at Fifty Point Conservation Area near Hamilton. Of course, our objective was Niagara Falls and meeting with Ontario RV friends who joined us there. It was one of our favorite campsites of all times.
Great hike down to the Lakeshore and marina which Daisy, the dog, and I made several times while we were there.
Entry back into the US was at Niagara Falls, NY. No problem, but just a bit stricter--took a few more minutes.
