I would suggest that instead of detroit that you cross over at Port Huron. Much easier crossing and less traffic.
I 94 to I 69 and it takes you right to the border. Make sure you fill up with fuel before you cross over into Canada.
In Canada route 402 to route 401 to route 403 and then the Queen Elizabeth Way to Niagara Falls.
Niagara Falls is beautiful and you will see it from the side with the best view. Some great campgrounds there and visit Niagara on The Lake and some of the wineries in the region.
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