Simon, while I've never crossed from Belorussia into Russia, knowing Russia like I do, I would be absolutely shocked if there is not an active and attentive border crossing post at every crossing point. It is just not the Russian way. Morever, there is a lot of truck and car traffic between Europe and Russia that crosses through Belorussia that would require checking, so I really can't see that you'll have a problem finding someone to stamp your passport. Hopefully someone who has done this crossing can confirm.
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