Yes all services are offered at the Guabito entry to Panama from Sixaola ,Costa Rica.Mandatory insurance is sold right there.
Be ready for an interesting crossing.--- unless they have replaced the old bridge over the river the last 2 years.They were planning on redoing that one , a lovely narrow gauge railroad with planks between the rails and alternating one way traffic, but no trains.
At least they replaced the similar bridge at Changuinola several years ago,
Enjoy the region, very tropical - jungly . The north facing slope of the road across the mountains to Chiriqui and David can be in pretty rough shape after rainy season damage.