Actually i live in Reynosa,Tamaulipas (border with Hidalgo,Texas), and actually travel to monterrey the last month, and i will tell you something, mexico its not like you see on the news, i don't know how to explain, but yea its a war right now, but
there is currently a drug war in Mexico, that's something we all know but let me put a example, I have a girlfriend who lives in Rio Bravo Tamaulipas border with Donna, Texas, and every day I travel 25 min to his city (currently taking 20 minutes of road and me never happened).
There are some people who have thought about the current situation in Mexico, but let me tell you if you're a quiet person, normally transitas around town and your visit to Mexico is quiet, it is very unlikely that something happens to you.
Another example could be my dad is now a physician authorized representative, that means having to travel 15 days throughout Tamaulipas (currently one of the most dangerous states), and thankfully never had problems, also a friend of mine just told me visit ago 1 day (December 29), came from Mexico to Reynosa and all good without any problem
I think the only problem is you came on your truck or car knowing that in the US most luxurious cars in mexico, that would be a problem if used as the drugdealers really like luxury cars and you could draw your attention, but considering that come by bus, not think there is any risk by coming to the border
Hope you have a good trip