Cal Which land border crossing is better?
Koidula - Kunichina Gora
or
Luhamaa - Shumilkino
???
I have experience of both, and for a while at Kunichina Gora there was FSB interview for all people. No idea by now. That means, you get a form with questions at the kiosk where passport control happens. You fill the form, passports are collected and handed to the FSB guy inside the office, then you wait in the room, to be called. FSB guy inspects quickly your phone, asks some questions, does some paperwork on his terminal, scanner and printer. Then you proceed further.
The point with this is that time at the FSB control depends your mileage. I had it quick, but have plenty russian stamps on the passport, never went to Ukraine. Russians with relatives in Ukraine, and who visited there before Donbas war, are always screened longer.
There are busses and car there. No idea how processing is distributed, if single traveler can be processed in-between passengers of a bus or must wait that a whole bus is processed.
I have done it by bus and the delay was in the 3 hours.
There is no point with taxi there. You can take the bus in Tartu, Baltic Shuttle around 10:00 or Ecolines around 14:00.
Since end February until end May (if not prolonged for ever) Estonia operates 07:00-19:00 and the route I took end March, Pskov-Riga ie. via Shumikino-Luhaama is now split on two coaches, similar to Narva-Ivangorod border. Crossing by foot then board another bus. When I crossed at Kunichina Gora - Koidula last time it was prior this change, no idea if now it is also like at Luhaama. Could search dedicated groups about this.
Kunichina Gora is practical when by bus, because if you are processed among the first passengers, no need to wait for the others as bus driver has to do before departing, even in case of long delay. The village of Pechory is just there, you walk 15mn to central square with local bus stop to Pskov.