Entered Kazakhstan in august 2014 so my experiences might be a bit dated, anyhow:
Crossed over from Saratov in Russia to Uralsk in Kazakhstan along road E38/236 in Russia, and road A29 in Kazakhstan. The Ozinki - Semiglavyy border crossing I think its called.
No visas required for UK and US citizens - my fellow riders (I needed one of course as I am norwegian) and no other papers as I can remember.
Rough guys on the russian side and a bit time consuming even to get out of the country! Relatively ok on the Kazs side.
Insurance readily available at the border. At a very rickety minimalistic shed - just as you can imagine....
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In the end everything will be fine. If its not fine its not the end....
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