If you just go a bit futher up stream and go to the Queen Elizabeth much quieter. So you both drive over the bridge and tell the US officer that you want to flagpole. They will give you a yellow slip and direct you to a parking lot with a building. A US officer will come out ask you a few questions sign a form and tell you to turn around and direct you how to get back to Canada. At this point you still haven't got out of the car. You cross back into Canada and pay a toll fee a few bucks can't remember ,he will then tell you to go inside the CBSA office. There you the applicant will go to the desk and they will ask you a few questions. 1) Have you ever been denied or deported from Canada or any other country 2) have you ever been arrested or been detained 3) are you still with your sponsor 4) do you have any dependants that are not on this form. He will then stamp your paper Corp and then they will send you a pr cards a few weeks later.
So yes both you and your sponsor can go. You do not enter the US so no visa or esta required
