How we could make it so that there could be the free movement of people? What would we need to do?

In my own personal experience I've crossed the US-Canada border many times, and I remember several times when the wait at the border was hours long. On top of that, I'm very frustrated with the immigration process to get into the US; it's something I think a lot about and I don't think this is for the better for anyone.

How could we make the free movement of people happen?

I'm going to think about this today and see what I come up with.