No you don’t need a visa. And check if there’s any transit bus goes over there or if someone else is going, you can do carpool.I don't own a car and a bit scared to go to USA border. Do we need a visa? How flag-polling works?
You need to carry your copr letters, passport and work permit with you. Tell the border security agents that you are here for flagpoling. They will ask you to go to US side and then tell the same thing to them. They will stamp your passport with flagpoling stamp and will ask you to return. When you cone back to Canada side, show them stamp and tell them that you are here for flagpoling to validate your PR status.