The first thing you need to do is find out whether the car you’re importing is even importable into Canada. Many cars destined for the US market do not meet Canadian safety standards (especially newer ones), and are therefore not importable at all. Note specifically that the person at the border was quite surprised that my MR2 was acceptable it seems that many late model Toyotas do not qualify. Transport Canada has an agreement with a private firm, Livingston International, which is now operating as the Registrar of Imported Vehicles. If you call them, and give them the year, make, and model of vehicle, they will tell you whether the car is legally allowed to be imported into Canada.
Also note that if the car is newer than the 1990 model year, you will be expected to have the car retrofitted with the equivalent of the Canadian Daytime Running Light system. This procedure can be done after the car is in Canada, but you must have it completed and inspected within 45 days of importation.