It's pretty easy if you pre-check your car to see if it is likely to comply.
1. get it inspected in Canada (your province)
2. Make the necessary changes. This could be adding a sticker to the speedometer or hooking up lights for "daylight running" lights. (That's all our Mazda3 needed, a jumper to have daytime running lights always on).
Some non-standard or non-volume vehicles may need more extensive changes. We could not register our gas 160cc scooter in Canada because it was not one of the 4 "already approved" models / manufacturers, so we had to sell it in the USA. I think there is a master book you can check online, of what is approved, if you are concerned.
Note, when you cross the border, you will need to go in and have paperwork finalized that states you are brining in the car as your move / relocate. The stated value of the car as you cross the border is kelly blue book, for the most basic version and year for your car and will likely be less than it is actually worth. Border agents don't really care if CRA gets $200 less in taxes on this, they just want a fast consistent way to apply a number to the form. Depending on how long you owned your car, you will pay taxes based on ownership length (e.g., over 6 months), and that (low) kelly book value.