avoid car from be taxed during landing

My wife, 2 children and I will move to Canada from US. Here are our profiles.

1. I am a Canadian citizen but currently been a non-resident for over 10 years. When I move back, I will resume my residency status
2. My wife just got the landing paper, so she will move to Canada as a new immigrant (PR).
3. Our 2 children (3 and 5 yr old) were born in US but they already got the Canadian citizenship via me. So I assume they will also claim residency status when moving back

My wife has a car worth $45k (the ownership doesn't have my name) and she is shipping it over to Canada. For me if it is over $10k it will be taxed. However since she is a new immigrant, the $10k limit doesn't apply and this should be no tax or duty.

BUT since all the four of us are flying in to Canada together (hard to explain the details but we have to fly in together), how can we avoid the Canadian Custom to potentially tax us on the car? Can we prepared two B4 forms, one for my wife and one for myself? Any suggestion or advices will be appreciated. My key is to avoid the car being taxed.