Yup. In fact, you can paddle up the Champlain Canal all the way from NYC to the St. Lawrence seaway.

You can get through all of Lake Champlain unimpeded, but I'd be careful in the wide parts as that's dominated by motorboats and it can get pretty choppy in high winds. I know almost nothing about the Canadian side except that there is a dam somewhere along the Richelieu. And I only know that because NY and VT officials were trying to get Quebec to open the dam up one year when a Lake Champlain spring flood lasted into July.

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You can boat into the Canadian side of a waterway, but you can't disembark onto land.

Source: GF's family has a camp on Wallace Pond (Lac Wallace to the Canadians)

There's a ton of Canadian YouTube sailers that have videos about getting around thay area, but the ones I've found so far are in French, hah.

Lake Champlain Paddlers Trail Guide will tell you where the paddler only campsites are: https://www.lakechamplaincommittee.org/explore/lake-champlain-paddlers-trail/guidebook

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I've taken a boat from Burlington through Sorel before, and the issues you may run into are the locks in St. Jean. I'm not sure if kayaks are allowed in the canal here, they time boats in the canal so that they meet up in wide spots.

Yes.