I did the same with my car coming from the UAE. From what I know, without an RP, you are allowed do drive your car here, but you must keep it parked until you have it insured and registered, for which you need your RP and ID. That said, when I crossed the border at Abu Samra, I was asked to pay an import tax and insurance for a month. I was told that the month of insurance would allow me to drive the vehicle for one month. Three weeks into that month, Traffic HQ told me a different story. They told me that even with that month of insurance, I was not allowed to drive the vehicle around Qatar and that if police pulled me over, I could pay a fine and have the vehicle impounded until the proper registration was completed. You should drive your car across the border. I had to pay about 250 dirhams for export papers at the UAE border, 400 Saudi Rials to a Saudi "official" (which may have been good ol' fashioned graft), and then what I paid at the Qatari border.
I did the same with my car coming from the UAE. From what I know, without an RP, you are allowed do drive your car here, but you must keep it parked until you have it insured and registered, for which you need your RP and ID. That said, when I crossed the border at Abu Samra, I was asked to pay an import tax and insurance for a month. I was told that the month of insurance would allow me to drive the vehicle for one month. Three weeks into that month, Traffic HQ told me a different story. They told me that even with that month of insurance, I was not allowed to drive the vehicle around Qatar and that if police pulled me over, I could pay a fine and have the vehicle impounded until the proper registration was completed. You should drive your car across the border. I had to pay about 250 dirhams for export papers at the UAE border, 400 Saudi Rials to a Saudi "official" (which may have been good ol' fashioned graft), and then what I paid at the Qatari border.