Sorry, your information is very dated. ID card and orders for military only.
For civilians, from ALL countries, inc. Mexico and Canada, passport ir REQUIRED. Even for 3 day Carribean cruise starting in Florida or a Sunday bullfight in TJ.
Yep. I know. I can do that in my sleep.
Go to El Paso, make a run to Juarez. Come back with a TX DL. Walk right through. That's the way it was a couple of years ago when I did that last bit.
/johnny