You can request your travel records from CBSA and their US counterparts.
http://cbsa-asfc.gc.ca/agency-agence/reports-rapports/pia-efvp/atip-aiprp/menu-eng.html
http://cbsa-asfc.gc.ca/agency-agence/reports-rapports/pia-efvp/atip-aiprp/req-dem-priv-eng.html
You should provide the following information your request: full name, date of birth, gender, country of citizenship, passport numbers(expired and current), vehicle license number, etc. Enclose copies of the data page(s) of your passport, driver's license and vehicle registration.