Hi, I became a PR back in 2014, my card expired in 2019 and I haven’t been able to return due to the PR requirements to get a travel document that I don’t meet. I now have a daughter and married and I would like to return to Canada with them to live there. Is there a way they can come with me and enter Canada through the US border in a private vehicle then holding an eta and me my expired PR card?
You can certainly try. This may work out for you or it may not.
Note that you will not be able to sponsor them for PR until you have lived in Canada for two years straight without leaving and meet the residency requirement. They will not qualify for health care coverage during this wait and your wife will be unable to work. Without a valid PR card, you may have challenges obtaining a driver's license and health care coverage yourself. You will be able to work provided you obtained a SIN when you originally landed in Canada.
Also keep in mind that there is always some chance you may be reported at the border for failing to meet the residency requirement, which would trigger a process to revoke your PR status which you will then have to appeal.
So short answer is that you can try but this is not guaranteed to work.