Amazon FBA from Canada to USA warehouse custom clearance

I live in a border town on the Canadian side. i currently sell on Amazon Canada for a product we manufacture in our own facility in Canada. I want to sell on Amazon US using FBA but when i try to send inventory, it says no Amazon partnered carrier (possibly due to border cross & custom clearance?).

My plan is to drive our company truck and trailer cross border to custom clear the goods then pass it on to a forwarder for hold so i can utilize the Amazon partnered carrier discount once goods are cleared and on the US side.

Has any have any experience with the driving across border to custom clear commercial goods? Can anyone give any advise on this?

We currently do custom clearance for imports coming into Canada in-house and it isn’t difficult and wondering if from the US side is any different?