In May, we crossed the border from CR to Nica. We took a taxi from the guesthouse near Liberia. It took us about 1 1/2 hrs. You can, apparently, easily take a bus from Liberia and we saw lots of buses.
Then we walked across the border, pulling our luggage. Although the border is confusing, it only took us about 1/2 hour to enter Nica. As I recall, the first stop was the exit station for CR and you must get your passport stamped there. Then there were two other stations in Nica. 1st one customs, then we paid a $5 entrance tax for each of us and got our passports stamped at the 2nd station by all the buses. There are lots of taxis (and buses) waiting on the Nica side. It was maybe an hour's drive to SJDS from the border (we paid $30 for a taxi).
The border area is quite confusing with a lot of traffic arriving, turning around, parked, going thru, etc. It might be easier for your daughter and hubbie to just take a taxi rather than you try to pick them up.
Hope this helps!