Tahmooressi, 26, who served two tours of duty in Afghanistan, had been held since March 31, when he said he mistakenly crossed into Mexico with three legally-purchased and registered guns in his truck.
A court-appointed psychiatrist confirmed that Tahmooressi has Post-Traumatic Stress Disorder.
Family spokesman Jonathan Franks said the judge released him from the Tijuana jail without making a determination on the charge against him.
His family released a statement Friday night saying, "It is with an overwhelming and humbling feeling of relief that we confirm that Andrew was released today after spending 214 days in a Mexican jail. He is back on American soil and will shortly resume treatment for both his pre-existing combat related PTSD and the residual effects of months of incarceration – which has taken a toll on him far worse than his two tours in Afghanistan."
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