Oh no, you cannot freely drive into deep Mexico. You must get a visa. Then you must stop at a station a few miles south of the U.S. border.
Then, you must come back to the states within the time allowed by the visa. You must stop at another station a few miles south of the border and surrender said visa.
See the collusion?
Well, I say formally request directly from the Mexican government permission to carry out the plan. If they refuse, then get them at NAFTA time.