Parent letter of consent?

Planning a trip from NY to MI and driving through Canada. Both my 17yo daughter and I have an enhanced driving license/permit, but no passport.

I can bring our birth certs and divorce decree saying that I have custody, but should I still prepare to bring a consent letter from her father?

The whole thing is making me nervous. I haven’t been into Canada in almost thirty years, but it’s not worth the extra time to go down and around the lake