The earliest passport is recorded by Nehemiah, a Hebrew Prophet and is canonised in the Christian old testament.

Nehemiah 2:7-10 ESV

And I said to the king, “If it pleases the king, let letters be given me to the governors of the province Beyond the River, that they may let me pass through until I come to Judah, and a letter to Asaph, the keeper of the king’s forest, that he may give me timber to make beams for the gates of the fortress of the temple, and for the wall of the city, and for the house that I shall occupy.” And the king granted me what I asked, for the good hand of my God was upon me. Then I came to the governors of the province Beyond the River and gave them the king’s letters. Now the king had sent with me officers of the army and horsemen. But when Sanballat the Horonite and Tobiah the Ammonite servant heard this, it displeased them greatly that someone had come to seek the welfare of the people of Israel.

Generally, I believe taxes and such were carried out at settlements.

Border lines were more arbitrary and typically followed rivers and mountains (as do many European borders today)

An exception being Hadrian’s Wall

Here’s a video on it:

https://youtu.be/k46r_pKW4LQ

And on passports:

https://youtu.be/D0VmhHTYptk