You have excellent transportation options from Dallas into Mexico. Several Mexican bus companies have multiple daily departures from Dallas. The best carrier in my opinion is GRUPO SENDA. It has modernized its fleet and operates very efficiently. SENDA's coverage of the South Texas border area and north central Mexico is unmatched. Dallas to Monterrey (stops in Austin, San Antonio and Laredo) takes 11 hours and the fare is $65. You can buy tickets online with credit cards. Omnibus and Americanos (which I think is now owned by Greyhound) are other carriers. Once you are in Monterrey you have multiple options to all parts of the country.
Grupo Senda
The downside for persons on VWP is that there is no place to turn in the I-94W at the border. The bus on the route I mentioned stops at SENDA's downtown Laredo station and then proceeds directly across the bridge to the Mexican Immigration/Customs station in Nuevo Laredo. Perhaps you can turn in the I-94W there, but whether it actually gets back to the US is anyone's guess.