I am a truck driver in US, out of Memphis TN, I have a minor felony on my record that occurred 10 years ago. Can I enter Canada and re-enter the US for working and driving purposes. What must I do.

You cannot enter Canada with a felony even if it's only a traffic felony for doing so many miles over the speed limit as a CDL holder. You would have to have your "minor" felony completely expunged before you could enter Canada on a trucking job. Otherwise, tell your dispatch you can't enter Canada.

A trucker friend of mine had the over the limit speeding felony on his record and had to tell his employer he could not enter Canada due to it and they didn't give him a hard time about it. They just didn't dispatch him to Canada anymore.

That is correct you cannot enter Canada if you have a felony conviction.. You can learn more at Felony Truck Drivers