Quick question, aside from passports and enhanced drivers license from certain states, do you know if SENTRI will work?
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I imagine if you've been qualified through the SENTRI process (and your Raptor is also registered under your SENTRI approved vehicles), then it would work. However, I'm not sure that all crossings have SENTRI lanes, or access.
In either case, bringing a passport will still be a requirement, as this will also be your best bet for identification when in Mexico for a variety of possible circumstances.
Best thing I've done, is getting the Passport Card. Much easier and smaller than a passport, waterproof, etc. Basically, it's like a driver's license.
Lots of time until October... many options! Even those that don't have a passport yet have plenty of time to get one. I'd highly recommend adding the Passport Card option at the time you apply for a passport. It's not much more.