The UK Freight Transport Association has called for the "safety and security" agreement removing the need for post-Brexit entry and exit declarations between Britain and Northern Ireland.
A "substantial" customs agent shortage in the UK also needs to be urgently addressed ahead of the end of the Brexit transition period, hauliers added.
Northern Ireland businesses are facing added pressure due to the potential formalities associated with the Irish border protocol that will not be faced by other UK businesses in Britain, the FTA said.
It said: "Logistics is an adaptable industry that can quickly react to changing circumstances, new risks and opportunities, but to do so it needs advanced notice of the changes that are to come.
"On both sides of the Irish Sea, businesses and logistics providers need to have timely clarity on operational requirements and new processes so they have enough time to implement them."
It said trade facilitation measures can help reduce additional requirements and red tape for traders and their logistics providers while the UK is outside the EU's single market and customs union.