Yes, I did this a couple of years ago. As I recall, I had to give advance notice to US Customs of my intention to convey the vehicle...about 48 hours notice. If memory serves, there was a form and a fee ($30) involved. When I arrived at the border, a US agent visually inspected the vehicle's VIN...no big deal.
Pilot, as you are likely aware, once in Canada you will need to have SVX inspected. I used a local Canadian Tire, and got treated OK. The mechanic and I reached agreement
that the DRL's requirement can satisfied without modification, just by keeping the master light switch turned on.
But...a few months later, I received from Transport Canada a strongly-worded letter threatening all sorts of hell and damnation on me because, as it turns out, Canadian Tire had not faxed them the completed inspection form. It all got sorted in the end of course...though it was useful that I had retained all the paperwork
Cheers!