Hello Daniel. Definitely you can come and submit refugee claim at the first point of entry in Canada.
You don't need an immigration lawyer or consultant. Just try to read as much as you can about the process of claiming refuge in Canada.
If you have been living outside Sudan, you are practically speaking a displaced person. A displaced person does not need to be registered with UN. You cannot go back to Sudan because of the war.
Go ahead. Get an air ticket and come to Canada.
However, you have to understand that there is a huge, very huge backlog of refugee claims. As of end of January 2025, refugee claims referred to IRB is more than 278,000!!!
You should be aware of this miserable fact. If you claim refuge/asylum in Canada, it may take at least 27 months (which is the estimated processing time for an in-Canada refugee claim), and it may really take longer.
I am not discouraging you. If you have no other option for a normal immigration path (like express entry, etc.) then you can think of coming and claiming refuge here, but again, you should reasonably expect around 2.5 years waiting for determining your claim.
This time may be shorter, much shorter. For some people, it takes only 8-9 months for the whole process from submitting a refugee claim until receiving a positive decision and applying for PR. But these are exceptions.
I hope that things are clear for you.
Note: If you have 'residency' visa in another country, like the GCC countries, this will not prevent you from claiming refuge in Canada. Such a residency visa is not considered permanent residence. GCC countries does not have such a scheme (permanent residence leading to citizenship like Canada). Even if you have a residency visa, it will not be a problem.
Good luck.