A "Menaje de Casa" shouldn't be made if you're just bringing some things with you that might fit into a car..... it's to bring a house full of goods you are bringing into another country. Major appliances, all your furniture, etc. otherwise it's not worth using this option since you can't use it more than once per move so I would save it for a "big" move.
If your stuff fits in your vehicle and you've got an FM3 for that, you should be fine with that. However, you will still be subject to searches before entering and leaving cities, might be a good idea to have an itemized listing to show just in case.