Can you travel to Mexico with a warrant?

Well, that depends upon whether the police catch you.

A warrant means the police intend to arrest you. So if your id is run by the police when you exit or enter the country, you the warrant will show up and you will be arrested.

If you fly by airplane, your id will likely get you arrested. If you go by car you will likely get into Mexico OK, but could get tagged on the way back in.

Of course, you can cross the border like the illegals do, and then it doesnt matter unless you get caught.

Short answer - get the warrant cleared.