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Darius McCrary is out of jail ... walking free from custody after a court hearing in front of a judge officially ending a messy stretch that started with a border arrest in Mexico ... TMZ has learned.

The "Family Matters' star's public defender Paulette Loftin tells TMZ ... "Over the last four years, Mr. McCrary's fight for justice and truth has been painted as an attempt to shirk his responsibilities to his child. The resolution reached today makes it clear that family does matter and that it always has." Oakland County Sheriff

She adds, "This resolution allows Mr. McCrary to correct the misleading narrative and put this matter behind him."

We broke the story ... McCrary was first busted in October near Tijuana and held on a no bail order in San Diego. After several h

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