Do you have to "self-report" to Mexican immigration when driving from the US to Mexico?

I have heard that, when entering Mexico by land from the US, the road does not "automatically" lead to Mexican passport control as in most other places; instead you're supposed to go to an immigration office yourself, in the same way you voluntarily declare things to customs at airports.

Is this really the case? Not that I haven't heard of similar setups (such as between French Guiana and Brazil), but I still consider it odd for obvious reasons.

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Do you have to "self-report" to Mexican immigration when driving from the US to Mexico? - Traffic on road between modern building facades in city

Do you have to "self-report" to Mexican immigration when driving from the US to Mexico? - Taxi cabs driving on suspension bridge

Do you have to "self-report" to Mexican immigration when driving from the US to Mexico? - Yellow cab driving on metal bridge

Do they stamp your passport when you drive to Mexico?

Nope, you will not get your passport stamped at any border crossing point.

What are the requirements to travel to Mexico by car?

Driving to Mexico

U.S. citizens must present a valid U.S. passport book or card, in addition to an entry permit (Forma Migratoria Multiple or FMM) issued by Instituto Nacional de Migraci\xf3n (INM).
Travelers should be sure to enter Mexico with valid proof of automobile registration, even if remaining in the border zone.

Is traveling allowed between the US and Mexican borders allowed during COVID-19?

U.S. citizens are permitted to enter. A negative COVID-19 test (PCR and/or serology) is not required for entry. Health screening procedures in place at airports and other ports of entry. Passengers and aircrew members arriving at Mexican airports may be subject to health screenings including temperature checks.

Do I need an electronic travel authorization for Mexico?

Yes. You will need to bring a hard copy of your electronic authorization with you when you travel to Mexico. You will need to present it at check in for your airline and to the immigration officer(s) at the point of entry for Mexico. Please note that immigration officers may deny entry to anyone without explanation.

From DIY to DIT at reROUTES—the 2018 NET Symposium in Arizona—Thursday 1 November 2018

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Images: Tim Samuel, Charles Parker, Tim Samuel, Tim Samuel