I literally just did this last week when I landed from the US.
Here's what I can tell you:
1) Don't stress it, it is far easier than you imagine for the paperwork itself.
2) Just be prepared financially for two things, if your vehicle is less than 15 years old there is an RIV fee, then here in Manitoba there is the provincial safety inspection. I was absolutely shocked when I had to pay $600 out of pocket for brake pads, daytime running lights, etc. So just be sure to have some cash to take care of things and expect costs to be an issue if your car needs a few items updated. HOWEVER, if you are bringing your car as part of a permanent resident landing - the taxes are free, you pay nothing. And I think there is zero tax if you are importing a car you already own. So that is a savings. I happened to import a vehicle just over 15 years of age, so I avoided the RIV fee and inspection, but it didn't make provincial safety checks easier.
Here's what you'll want to do, make sure you do the RIV forms online, print them off, and have them ready before hitting the border. It makes things so simple, it literally will cut down an hour's worth of paperwork at the border.
Also, if you are a US resident, the hardest part to the export is this asinine test they require you to take on the AES/Census site before you can register as your own exporter. I spent 30 minutes on that thing and it was annoying, but its honestly the hardest part of the entire export. You don't need a broker if you are a US resident; however, if you don't have US residency/citizenship like I do, you may have to use a broker.
Also, be sure you send the documents to the US border at least 3 days ahead of time, then call them to ask where you arrive without having to go through the border. Usually there is a parking lot you stop at on the way out and can enter the border services building. It takes them all of 5-10 minutes to just stamp your US title and you're done.
Hope this helps!
