Federal authorities generally have a higher standard of behavior than local or state police, although obviously not in every instance. If you try to cross the border with $500,000 declared, they may have some questions for you.
The point being that in cases where there is no funny business (at least in your opinion), you are strictly better off declaring it than taking your chances on not doing so.
The law in the US is that, the police can take anything they want from you, with zero judicial process needed, slap it into their department's slush fund, buy whatever toys they want, or even as someone posted above, MAKE IT PART OF THEIR YEARLY BUDGET PROCESS TO "EXPECT" MILLIONS IN STOLEN MONEY, and unless you can AFFIRMATIVELY PROVE in a court of law that you obtained the property through zero criminal or near criminal activity, you will never get it back