I ran into this same situation earlier this year. When I left Mexico last year, I did not check out my vehicle with Mexican Customs. Since their big fear is Americans driving/riding in and then selling their vehicle in Mexico without paying tarrifs, they are watching this very closely using computers. I had to go back into TX and get my insurance company to fax me a statement saying the vehicle was in an accident in PA to prove that the vehicle had left Mexico. It took me about two days of phone calls to accomplish this feat. Luckily, Mexican Customs accepted this info and gave me a temp import sticker for my new vehicle.
Like k7lro said, make sure you take the time to check your vehicle out when you leave Mexico. I would also suggest that you keep a document file for all previous exits handy, so if Mexican customs does screw up and says you didn't check out when you did, you have the documents to prove it. Otherwise you are not going back in with your vehicle.
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