nah, it used to be you could just drive through the borders without saying boo to anyone, if the border was between two schengen countries... like for example i recall crossing through germany to netherlands at Vaals, and slovenia to hungary, and there was no checkpoint anymore, or at least they were minimally manned...
i got picked up after crossing into hungary by a military police truck with a border cop officer inside, as i tried to hail a ride towards budapest or at least i intended to head towards romania, and was detained for 12 hours, but it wasn't because of the checkpoint it was a hungarian border police patrol
and outside schengen some borders are pretty loose too, i mean, this was 2014, between bulgaria and romania near Vidin and Bassarabia, there was no manned checkpoint, and i also got stopped by a border police patrol but they didn't care, and that was after getting told to climb a fence just over the danube by a romanian border guard who was stationed in a little cubicle by the side of the road, i could have walked further to the road checkpoint but lol what am i gonna do if i want to go to romania and romanian border cop says jump a fence, who am i to argue??? haha