You might have issues… I wouldn’t’ do it…specially because she is two and she has no way of communicating in case officers have questions…
Getting into Mexico they don't check your stuff if by vehicle. Now if you cross by foot they can, but usually not. Getting out of Mexico at the border is more tricky. You need as much is documents as possible if you don't have a passport. Ok. I hope this helps. They cannot deny a us citizen, entry back into the US, fyi at the border
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