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Mexicoach has service to Rosarito from the US border zone. I think though its only a couple of departures a day. Alternatively there are buses you can take from stops just a short walk after you cross the border which have lots of service and cost far less.
I normally walk to central Tijuana to catch any of those vans that traverse the Carretera Libre to Rosarito which are really cheap.
In Rosarito, on my return, I just flag one down on Benito Juarez which come by every few minutes and return to TJ, sometimes stopping in La Gloria, on the way back. On my return, just walk the short 6 blocks to the border.
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