I wouldn't be as worried about the migration card--you should be able to fill that out when you enter Belorussia, but I'd be more concerned about the temporary import certificate for the vehicle. If you enter Russia without one of those, I think you'll encounter problems along the road, and especially when you try to leave with the vehicle. Worst case I would stop at whatever facility there is at the Russian border and be kind of insistent. Logically, you could probably also do this at the Belorussian border.
These are some of the reasons I don't go to Belorussia; the Ukrainian/Russian border for instance, doesn't have any of these complications. Unless someone is fixated on visiting Minsk, etc., why not just skip Belorussia altogether?
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