1) We entered at Columbia Solidarity Bridge Crossing, Laredo, TX. INM visit easy peasy at the same we secured our TIP (see below). If you are Residente Temporal vs. Tourista make sure they identify you as Residente on your entery into Mexico and not as a Tourista.
2) I "second" Lewis & Lewis... good online site to buy "tourista" auto insurance for Tourists and Residente Temporal, and very good rates. They also allow you to select the region of the country you will be driving. For example its basically the Bajio Region north or the entire country. Since we never planned to drive our vehicle to Mexico City, Oaxaca, Ixtapa, etc. (its easy to fly there) it saved a bit of premium.
3) We did our TIP at the Banjercito at Columbia Solidarity Bridge Crossing, Laredo, TX. Took about 30 minutes in line. No experience from any friends purchasing online, only hearsay. Online TIP https://www.banjercito.com.mx/registroVehiculos/ You do have one other interesting option living in Colorado, you can visit a US based Banjercito office and take care of it in person. Might be worth a phone call at
Denver Colorado: Leetsdale Drive Suite 100, Denver, Colorado, 80246, Tel: (303) 399 0586
Buena suerte!