Interesting first post....
A passport and then a passenger/rider letter from the driver's company.
After thinking about this, since you're not a driver, nor an essential worker, you may get slapped into a mandatory quarantine on either side of the border, or you could get denied entry on either side, too.
Canadian border is still closed to nonessentials, which you are in your scenario.
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It is possible for me to go on a trip with my friend if I have a passport?