My family (me, my wife and 15 year-old daughter) are US

Then you can likely apply for express entry for skilled workers. That means you and your family can get your PR status in about 6 months.

Here is a link to the information you will need:

http://www.cic.gc.ca/English/immigrate/skilled/index.asp

You will see there is an assessment tool you can try to see if it looks like you are eligible. You don't need a job offer but you changes of success are greater if you do have the offer.

You have to live in Canada for at least 2 years in total in each 5 year period until you become a citizen. Once you are a citizen there is no residency requirement.

These are the residency requirements for citizenship:

You must be physically present in Canada 1,460 days during the six years immediately before the date of your application. You must also be physically present for at least 183 days during each of four calendar years that are fully or partially within the six years immediately before the date of application. These requirements do not apply to children under 18.

You don't need a lawyer but it is usually easier to have a lawyer do the application so you get it right the first time. Canada Immigration is difficult to deal with.

Does that fully answer your questions?

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You are very welcome.

I hope it works out.

It is much more than showing the residence because it has to do with physical presence.

So keep an accurate record of each time you leave and re-enter Canada.

And ask that your passport be stamped each time you enter Canada.