What are the best practices for crossing the Thailand-Malaysia border with a vehicle and how to handle customs issues?

UPDATE: So, what was I trying to get across the border? A 2012 Honda Future 125cc that I had bought in Johor almost five years ago, and rode into Thailand just before Covid hit. Every month, I brought it to Thai customs for a stamp, until they stopped stamping after about 10 months. They didn't know what to do, so they just said; "leave as soon as you can," which is what I did today.

I was NOT ready to pay a 10,000-Baht "fine" today, (the bike isn't even worth that!) but that was the only option the customs agent gave me. But then, I had the amazing good luck of meeting Tan, at that very moment. A Malay who spoke English and was returning home, joined in our conversation and translated for me. I (we,) told the agent that I would just leave my bike there and walk, rather than pay 10,000 Baht. The agent was honest, and polite, and I really don't think he wanted a bribe, but he just really did not know what to do.

Then, he somehow figured a way out. He told me never to bring the motorbike back into Thailand, EVER, and then he let me go.

I bought Tan lunch.

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ANY TRUTH to the notion of best time to cross a border is lunchtime? Going to Malaysia with, um, questionable customs papers...