I don't think it was ever confirmed he crossed the boarder. He was inspecting wildfire damage. He was eyes out the window on the ground doing something. He wasn't concentrating on navigating, he was taking the plane to see different points of damage.
But it wasn't a big deal. He was inspecting fire damage, a couple F-16 took a flight and intercepted him. The feds met him back at the airport, asked him some questions and it's over. "What were you doing?" "I was inspecting the wildfire damage, I'm a Congressman here" "You were getting awfully close to the boarder" "I was on this side at all times". "Ok"
What more is gonna happen?
If I was in his shoes and was damn sure I didn't cross the border then the F-16's escort and the FAA waiting at the airport would have made a perfect recipe to feed all of them the ol " FU and pound sand ****oles"...
IMHO