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How to avoid delays at US border?

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My wife & I have UK passports. We plan to fly to Canada in June and then go by car to New York state. I know we don't need an ESTA if we enter US by land, but is there anything we can do before we go to save time at the border? Also we'll be with our son (Irish passport, Canadian resident), Daughter-in-law (Canadian passport) & 2-year-old granddaughter (Canadian passport), all travelling by car. We want to avoid any long delays at the border.
Thanks

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