Highway drive time, once you leave the City of Vancouver will be about 2 1/2 hrs excluding the border. You will have to get out of the car, fill out the I94W form and pay at least USD 6 in U.S. entry/clearance fees.

Crossing anytime during a weekday morning is usually quiet if it's not in summer (rapidly coming to a close). Not more than 20 minutes usually. In the afternoon, crossing is a crap shoot.

Drive is quite simple and you don't need a GPS: Just head down 99 in Canada continuing onto I-5 until you get to and pass Everett, take exit 189 for WA 526 / Payne Field, drive past the Boeing hangars until you get to the (2nd or 3rd light) at 84th St SW where you turn left for Future of Flight (marked by the Hilton Garden Inn). Pretty much the reverse coming back up.