My wife flies back and forth without me quite regularly, and we have never notarized anything. One time one usbp guy had a little freak out about it, but he just wanted to see a copy of our passports to compare signatures. And border peeps occasionally like to freak out about anything once in a while (most are really good honestly, but 5% of any profession are wing nuts).
So now she brings a basic letter that we both sign, along with copies of our passports. Never had any issues, and they usually don't care about the passport copies.
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