The thing is that because we don't need visas to visit the US, there is no need for a stamp. That stamp you get in
Europe is in effect a visitor's visa. No visa needed, no stamp needed.
If you fly between the US and Canada and if they scan your passport, rest assured they have record of your coming and going, with or without the stamp! Even without a passport, they'll have record of it.
If you drive across and you're hauled in to secondary inspection (interrogation

) they'll have record of your coming and going. If you drive across and they just wave you through however, there is no record other than your own word.
When I went for my K3 interview to the US consulate in Montreal and I filled out the visa application form (DS-3032 er summat?) there is a question that asks for dates and length of stay for any visits to the US. ANY US consulate or Department of State adjudicator in the US is going to be perfectly ok with answering that question with "I lived close to the border and drove over several times a year for one day trips for lunch, or for one week vacations camping in the Poconos" or whathave you.
The people who really matter are the consulars and the adjudicators, not the lawyers. From my own experience, and anecdotal experience of other immigrants to the US, the lawyers are rarely if ever helpful, and you're better off to do it yourself. Unless you're applying for asylum or refugee status, or you have a communicable disease or a criminal record, there's really no need for a lawyer IMO.