Do I need I-94 form to land at Rainbow bridge Niagara ON

[Canada247]

Hello guys,

I plan to do my landing next weekend. I intend to cross the US border at Rainbow bridge Niagara ON and spend some time shopping, then I will return to land in Canada. A couple of questions, please...
--Do I need the I-94 form?
--Since I will be driving, do I need to exit my car to be checked by the US border control agents?

Thanks for your anticipated replies