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Andorra does perform border control to apply rules depending on the nationality of visitors. They have freedom of movement agreements in place but the border controls serves check which rules apply to visitors and also to impose limits in importation of industrial and agricultural products.
Customs control on the border
As well as checks on visas or passports for Andorra, customs checks are carried out on the border, as there are limits to the amount of agricultural and industrial products you can take across the border. For more information about these limits, visit the Andorra border and customs website, where youβll also find their addresses and opening hours.
PS: I actually have waited at both entry and exit borders a couple of years ago while driving in and out. If you made it through group transport, perhaps they arranged clearance another way but driving, they do ask for ID when arriving and exiting.