I would highly recommend not taking a car across the border, and just taking the bus in Mexico. The main reason is the driving any sort of vehicle across the border can be a major hassle - of course on the American side.
Other Americans will keep telling you about how dangerous Mexico is. The truth of the matter is, the worst part of the trip is almost always getting back across the U.S. border. Remember, every time you cross, it is technically called "applying for entry into the United States." CBP officers will "secondary" you for "looking nervous" (even if you are not nervous and are simply sleep-deprived, on caffeine, or it's just the way you normally talk), or if your itinerary or possessions look "suspicious." They are particularly paranoid about drug smugglers. If you cross at the smaller border crossings, they can sometimes give you a very hard time. Your 4th Amendment rights will be practically void because the Supreme Court has ruled on a "Border Search Exception."
When crossing by foot, a secondary inspection can include them taking everything out of your pockets and luggage, counting all your cash, asking you about your whole background, going through your camera/phone, K-9 dog sniff, and frisking (patting down) every part of your body, including your genitals. When crossing in a vehicle, it can include dismantling your gas tank, tires, and car body. Pretty much anything they deem to be "suspicious" or illegal, including electronics and food, can be confiscated indefinitely.
Note how I am talking about how to safely get across borders, instead of telling you how to avoid cartel crossfire (which is ridiculous paranoia thanks to our wonderful friend, the American propagandist media). I have crossed the US-Mexico border dozens of times, and have usually been waved through within several seconds, but there have occasionally been very unnerving experiences. I can list off a bunch of the CBP's favorite questions, which sometimes come with soft, rising intonation specifically to make you nervous:
- What were you doing in Mexico (one of their #1 favorites), who were you with, where did you go
- What are you bringing back from Mexico, do you have anything to declare, any fruits or vegetables
- Where are you going, how are you going to get there, where is your car parked at
- Where do you live, what do you do for a living
Any untruthful statement to an officer is a federal offense. Plus, you are pretty much passing a polygraph test too, since they are specifically looking for "signs of nervousness." You wouldn't want to hesitate and think about your answer - be prepared for those questions beforehand. This is not much different from a date with an American woman, since with both, superficial confidence and swagger will get you through. Some uncomfortable questions to prepare for, so they'll try to get you to look nervous:
- Why are you looking nervous (or, you're looking kind of nervous), do you have any drugs or weapons on you
- [Mean stare and long silence]
These federal officers love busting people for anything they can, so they can get promotions, raises, ego boosts, and other things.
When it's your turn after waiting in line, move forward only when they motion you to do so with their hands - so remember to watch those blue latex gloves as you are approaching their booths. If you move ahead by yourself when not motioned to do so, they will see you as a threat. And while waiting in line, do not use your cell phone or camera (even if others in line are), or otherwise they could be confiscated.
Afterwards, they will scan your passport, and your file will pop up on their computer. They will look at it for a few seconds, then the questioning will start. Meanwhile, keep your hands out of your pockets and on the counter so they won't think you are concealing a weapon. Remember to maintain proper eye contact to avoid "looking nervous."
The Mexico part? You'll be fine.
