To-dos so the route is valid

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Sort these out beforehand, not on the day you leave.

If a car is financed: the lender's authorization letter (lienholder letter) + a copy of the loan contract in the folder.
A yearly Mexican liability policy for both cars, printed.
Confirm each car's plates (Mexican or Texas) and, depending on that, the tarjeta de circulación or the permit requirements.
Current passports for all four; FMM pre-registered for anyone who isn't a Mexican citizen.
Microchip and current rabies for both dogs; CDC Dog Import Form filled out for the return.
Mexican pesos in cash kept with the folder (at least MXN 10,000 for two cars).
GMRS radios with an agreed, tested channel; offline maps downloaded on all four phones.