Are non-commercial vessels leaving the US required to make a passenger manifest available to the US government?

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The background for this question is the lack of any formal exit (emigration) procedures when exiting the US. Instead, when such exit records are required, the government relies on airlines' passenger manifests and foreign countries' entry records. Airlines are mandated to maintain the manifests and provide them to the government when needed. Are non-commercial operators of air and sea vessels similarly required to?
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Can you leave the US on a boat?
Whenever you depart the United States (U.S.) by pleasure boat/small vessel to a foreign country, you must obtain clearance with U.S. Customs and Border Protection (CBP) before departing.Can you cross the border on a boat?
If your boat has anchored or tied up, you are considered to have entered the United States. No one shall board or leave the boat without first completing customs processing, unless permission to do so is granted by the CBP Officer in charge. The only exception to this requirement is to report arrival.Can you cross the US by boat?
The Great Loop is a continuous waterway that recreational mariners can travel that includes part of the Atlantic, Gulf Intracoastal Waterways, the Great Lakes, Canadian Heritage Canals, and the inland rivers of America's heartland. Anyone who completes the journey is then named an official 'Looper. 'Can Canadians travel by boat to the US?
The I-68 permit allows boaters to enter the United States from Canada for recreational purposes with only the need to report to CBP by telephoning in their arrival.NOW WE KNOW WHAT IS HAPPENING. THE US GOVERNMENT IS GETTING READY
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Images: Uriel Mont, Charlotte May, Keira Burton, Charlotte May