We Will Soon Be Driving To Queretaro From Minnesota Via Laredo, Texas. Anyone Familiar With The Route?

I drove this route about 12 years ago and remember it as a nightmare. The roads were not completed and the alternate routes were pretty scarey. What will I need for car insurance and such? How much time should I expect it to take? Any and all advise will be welcomed and appreciated. We are two adults and two late teenaged boys. Twelve years ago was a bad dream. I had to take the shoulder regularly to avoid hitting oncoming passing cars head on. It was nerve wrecking in many ways. I feared for my LIFE! but I will assume things have inmproved there since then How do I go about getting the necessary car insurance? At the boarder? Can I realistically make Queretaro from Laredo in a good day?