In most cases, “ports of entry” exist at even the medium-sized airports and docks. For instance, my local airport is a port of entry and you can clear customs there – if someone is on duty. Otherwise you go to the desk and there’s a phone there to call customs.
There’s plenty of places you can just drive, sail or fly (private planes) from one country to another and they rely on you to self report. For instance, at the nearby tiny Frenchman’s Bay Marina, which you could reach from probably half the US (via the Mississippi and a *lot* of locks) there’s just a phone you use to call the main customs office, and a NEXUS terminal if you have the card. No one checks on you.
These entry points are much more common than you might think. Check out this map for Ontario for instance:
https://www.cbsa-asfc.gc.ca/do-rb/provinces/on-eng.html
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