Two years ago a few of us adults took a youth group down to Montana, we had the parents write notes and the border guys never even wanted to see them.
Last year I took my kids to the US without a letter and got asked at the border, specifically cause we were travelling wthout mom. He let us go after a quick chat with the kids but said next time to bring a letter. He specifically said it didn't need to be anything special or notarized, just a note.
This year I had her write me a note that said I had her permisson to take them to the US throughout the summer, Jul and Aug, and wasn't asked for anything on either side.
It only costs a couple bucks to have a letter notarized, so I guess if you're worried it's good insurance. At the end of the day if there's no reported abduction, custody issues or the like they can't detain you or prevent you from travelling with your kids, but they could sure hold you up long enough to wreck your day.
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