You should have done all this while you were in compliance with the RO and had valid PR cards. It may very well be too late for you now.
You said you were outside Canada for personal resons, so really you have no legitimate H&C reasons to not meet the RO.
If you go through all the effort to travel to USA and then to Canada land border, you must declare your family are all PRs in order to be allowed entry (I assume you don't hold visa-exempt passports). The CBSA officer will very easily see none of you meet the RO, have no H&C reasons, so I would expect very high chance you get reported for violation of RO which starts process to revoke your PR status.
You will still be allowed to enter, and can choose to appeal the decision if you want. But really due to lack of H&C reasons there is a high chance after year or two waiting in Canada for appeal date it will ultimately be denied and you would all have PR status terminated and need to leave Canada.
If by some miracle CBSA does not report you, then you'd need to commit to staying in Canada 2 straight years without leaving even once for any reason, before you could apply to renew PR cards. It may be difficult to live without PR cards, but not impossible as long as you already have SIN.
So ultimately you will need to go through lots of cost, time and effort to try... and in the end you may still have PR status terminated.