Thanks Leon, I emailed the Seattle embassy and was informed that I dont need a travel document if I am travelling by personal vehicle and they only accept walk in applications for travel document which are usually available the same day if you qualify.
I have my inlaws in Canada and I plan to apply for PR card using their address once I am there but question is when we apply they ask to give up the PR card, so how will I re-enter Canada to pick the card?
That's how. Once your relatives get the notice of the PR card and you have to go pick it up, you can drive to Canada and use your landing documents to get in.