Travelling to the US, Mexico and Central America (with a VWP for the US)

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I am wondering if we have to leave Mexico before the 90 day time frame is up on our esta (VWP) in order to be allowed re-entry to the US.

No.

or if we are fine to re-enter as we left the states before the 90 day period was up and won't be returning until after we have been through Central.

Yes.

The rules concerning trips to Mexico (among other countries) are intended to prevent people from using such trips to circumvent the 90-day limit on VWP visits, and these rules actually leave quite a lot of discretion in the hands of the immigration officer. The likelihood of your being teamed to the US will depend in part on how long you plan to stay, which you haven't mentioned here, but from the information you've given us there's nothing that would automatically prevent you from reentering. The timing of your travel from Mexico to Central America is not relevant.

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