Any passenger you carry has to be cleared before you go. When you send in your papers for your load, to the border, you also include your passenger stats. Passport and Drivers license. I asked today in fact.
I deal with this on a daily basis (almost...lol)
#1 passport needed, and just in case, drivers license, birth cert.
#2 waiver from the transport company- this is mainly for DOT at scales
#3 on the ACE of course... that is a given...
#4 you can still haul FAST freight, just not in the FAST lane, using a FAST card.