please check from iranian consulate for land border crossing timings / schedule.
no you do not need any special type of visa, unless it has mention of crossing by air only.
vehicle carnet & your passport with stamped visa, an international driving license, is enough. at border crossing they may ask for additional personal safety gear as in High Density Reflective coverall & a helmet.
make sure you have translated copy of your NADRA COVID vaccination certificate.
23 days ago by Road crossings towards iran were closed for passengers upto Feb 15 2021 (as per zaireen bus drivers). Only trade cargo vehicles are allowed at scheduled timings.