How people lived in Setu villages - check it out near the Värska, turn right from main road entering the Värska from Räpina direction and follow the signs.
From V?rska, You can drive to Saatse by road what is some hundred meters in Russia, this place is called "Saatse saabas" (Boot of Saatse). Estonian-Russian Border treaty (what Russia declined recently) marked this to Estonia, but it?s actually a Russian territory now and border treaty waits for approval in Russia again. In soviet times, when Soviet republic borders were just virtual, this was not problem, but now it?s the only way to Saatse village and border crossing, so everyone must go to Russia for some minutes to visit Saatse.
As it?s not guarded usually by Russian border guards, it?s good to visit Russia without a visa :) But be there only by a car or bus because walking by foot is not allowed in Russian territory.
You can see russiand border marks, fence and sand zone marking Russian border. In Saatse You can see orthodox church, a village shop and many seto style old houses in village. To cross border, You probably need Russian visa. It?s not available from border.
Comlpetely off-the-beaten path and even restricted path may be Russian-Estonian border near Värska. remembr to take a passport with You if close to the border. Do not cross the border unofficially even if there are no border-guards seen, usually it ends penalty payments and uncomfortable arresting in russian town Pskov (Pihkva) for some days.