I walked across the border and walked from the border following the signs down to Revolution. Not a lot of drama but nothing fancy either.
Crossing into MEX is no problem. No one will even ask for an ID, you just walk in.
Coming back there is a problem. If you had a whole bunch of beers, you might have a little problem if you find there is a typical 1000 people in line waiting the cross into the USA and no bano!