Do I require a Permanent Resident Card if I’m returning to Canada by car?
The Permanent Resident Card is required to re-enter Canada by commercial carrier (airplane, boat, train or bus) only. This requirement does not apply if you are travelling by car.
I did drive/return to Canada without PRC and expired, as my PRC was under renewing at that time (it took around two and half months), the officer were asking the landing paper, and OK with it.