I can only talk about arriving in Sharjah by ferry from Iran. It was a lot of paperwork, but all done in a few hours. I had a carnet, but I'm don't think you need one for UAE, certainly not for crossing the border to or from Oman.
The land border crossings were painless. They make you buy insurance for Oman at the border, no entry without it. We saved quite a bit of money by buying the insurance policy from a UAE co. before getting to the Omani border post.
I don't think we had insurance in UAE, but in hindsight I would say you should have it, because there are a lot of very expensive cars on the road and the driving is a little sub-standard.
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