I crossed at Nogales many times over the years--when I was living in Vancouver. Crossed there again early this year after Baseball spring training games in Phoenix.

If driving south on I5 in the US -- avoid Los Angeles -- traffic monstrosity. I always headed across country to Wickenburg (I93) then south to Phoenix.

Usually stayed overnight in Nogales because from the border it is a three day (two night) drive to La Manz.

At Nogales, do not enter the town. There is an exit (trucks crossing) that turns 90 degrees to the right off Hwy 19. Gasoline is much more expensive in Mexico. It is worth filling your tank.

To drive your personal vehicle in Mexico you will need to have a Temporary Import Permit (and Mexican Insurance). Order your "TIP" online at Banjercito -- the Mexican government's Military Bank. This is the Link:

https://www.banjercito.com.mx/registroVehiculos/#

order your Mexican Insurance online -- I have used the company below. Can't vouch for their service etc. because I have never had an accident. Their costs seemed reasonable.

https://www.mexicanautoinsurance.com/

Once you cross the border -- you will need to get your visitor's permit. That is done 21 km south of the border. It is a group of white buildings on your right. There is a fairly large parking lot and the office opens at 8 am. Upon returning north you will need to check in your vehicle across the street at one of the two small white kiosks. There they will photograph your vehicles VIN and start the process for reimbursing the deposit you paid for the Temporary Vehicle Import.

I recall the total for the Hwy tolls from the border to La Manz were about 2000 pesos. Credit cards and foreign currency only accepted at the first 2-3 toll booths south of the border.