Like can I just jump in my boat and go? Do I have to alert any authority about my trip? What are the chances the coast guard boards my boat to search it? How do you find a marina in Mexico? Do I have to alert the Mexican government of my trip? I assume I need a passport.
This is to settle a very polite heated discussion between my partner and I. Where neither of us know what we’re talking about.
Another link that has some of the same info as above. But also includes info about re-entering the US. There seems to be an app, CBP ROAM app, for US customs.
https://aglyachtsales.com/what-you-need-to-know-about-visiting-mexico-by-private-boat/