Overstaying US Visa Waiver Program

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You have not overstayed. You are fine to go back to the US on this trip or on any other trip.

Time in Mexico does count under the 90 days that you are allowed spend in the USA, however only if you return to the US within that same 90 days. Once day 91 rolls around, your "maximum 90 days" entry to the US is completed - regardless of whether you are still in Mexico or not.

When you re-enter the US after that occurs it will be treated as a new entry. The immigration officer will look at the details of your previous travel (specifically, ONLY time that you were in the US itself), and decided if you should be granted another 90 day entry to the US under the VWP. In your case, where your trip to Mexico was clearly not a "visa run" you will be granted a new entry, and the 90 days will start again.

If you had, for example, left the US on day 89 and was trying to re-enter on day 91 then it would be a very different story. Technically the immigration official would have the option of granting you another 90 days entry, however it's unlikely they would do so due to the appearance that the trip to Mexico was simply a "visa run". This obviously isn't relevant in your case.

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