[ketzu]

Interesting, I misunderstood the info I got while traveling there. The way the border agents phrased it I required esta as well as an additional form, but the website I checked now says I wouldn't have needed the esta as you said!

For me, arriving at the US by land was by far a worse experience than arriving by air, as my passport was taken until they had time to process me, waiting in a room i was not allowed to leave, then filling out an additional form and paying additionally. Contrasted to arriving by air "do you have esta? -> yes -> have fun" at the immigration.