Ramos and his family, who live in Houston, were driving to El Paso.
Ramos and Jose Compean were released on Feb. 17, weeks after then-President George W. Bush commuted their sentences.
Both were convicted over the February 2005 shooting of Osvaldo Aldrete Davila. Investigators said the agents never reported the shooting and tried to cover it up.
Aldrete in 2008 pleaded guilty to smuggling marijuana in incidents several months after he was shot and was sentenced to more than nine years in prison.