Good Afternoon, I plan to visit Puerto Penasco in January 2020 for six weeks. My passport expires on February 7 2020 while I am in Mexico. Do I need to renew my passport to be able to leave Mexic...
That's great, however you were on foot, and had a very recent record of having crossed the border.
It's one thing to do what you did, accidentally, and another to know that your passport will expire while you are out of the US with a vehicle. Just renew the passport.