I drove out 2 summers ago, after flying into Mexico 7 months prior and I did not do anything at the border. I just drove back into the states and spent the summer. When I returned there were no Americans at the border in Agua Prieta and the Mexicans could care less.
As far as the airlines handing out forms, my last 2 flights into Mexico in the last 3 years there were no immigration forms provided. So by having mine already I did not have to get caught up in the tourist hassle of scrambling to complete the form while jostling in the immigration line.
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