Do I have to register my vehicle in the US every six months?

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No. If you have an FM3 residency visa you can legally import and register your vehicle at the office of customs in Veracruz (depending on where you are in the country of Mexico these office are located in relative cities).

You will be required to provide certain documents related to the car or truck, your residency, and personal information.

The process is relatively simple and does not take a lot of time.