There is no safe way. As said above, there is a high chance you will have issues keeping your PR status.
The best way would be to fly to the US and then try to re-enter Canada through a land border using a private vehicle. Given how long you've been out of Canada there is a good chance you may be reported for failing to meet the residency requirement. If that happens, then you will be allowed into Canada but will have to appear at a hearing to argue why you should be able to keep your PR status. If you are not reported, they you will need to enter Canada and then remain in Canada for 2 years without leaving before you'll be able to renew your PR card.
The other way would be to apply for a PRTD with H&C considerations. However given it's been almost a decade since you lived here and since you only stayed here for a short period of time after arriving, there's a low chance the PRTD will be approved.
If you have enough points to reapply for PR, that would be the better route.