If you follow the Russia - Ukraine border from west to east, you can cross at any major road crossing (there are some minor road crossings only open to Russian / Ukrainian nationals) until Bugayevka (RU) / Prosyane (UA).
Crossing the border is pretty simple. At the less popular crossings you may well be the only person there. At busier crossings such as Kharkiv - Belgorod or the Bachivsk - Troyebortnoye crossing there will be a queue and you may have to wait. But the guards at the quieter crossings have more time to search through all your stuff.
So if you are on a bike and jump the queue, I would go for a busier crossing as the guards want to move you through more quickly. Shouldn't take more than an hour or two.
EO
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EurasiaOverland a memoir of one quarter of a million kilometres by road through all of the Former USSR, Western and Southern Asia.
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