Especially the smaller border crossings in Mexico aren't very clear. We left Mexico to Guatemala at a pretty small crossing and there wasn't anyone around so we could have just gone right through without stopping. It's not likely anyone from customs will notice you so the vehicle probably won't be an issue. Immigration will want to see your visa which you should have picked up at the entry point. You should be able to talk your way through that, but they will want the visa fees paid since you won't have a receipt. If you are lucky , you might just drive through to the Belize side without any issue!
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