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.”

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 hearings, he was extradited to Michigan, where he faced five felony charges, including accusations of failing to pay child support and absconding.

As part of Monday’s deal, his rep, Ann Barlow tells TMZ … he entered a no-contest plea to all five felony charges. He’s set to return to court for sentencing in February 2026.

Our “TMZ After Dark” tour took things up a notch this weekend … with our first-ever rave bus!!!

TMZ partnered with The LA Raver for a wild night on our “TMZ After Dark” tour bus … members of the Los Angeles raver community piled on our bus to do their thing … dancing to rave music from two DJs … all fueled by Monster Energy!

DJ Palina La Diva and DJ XVIRAD hopped on the 1s and 2s and kept the party going as the bus made stops at Hollywood hot spots … the rave first went to Rainbow Bar & Grill, where we had a dance party in a private room, plus free shots.

If raves aren’t your thing, don’t sweat it … the Friday ‘After Dark’ tour turned into the Twerk Bus … with “Real Chance at Love” star Cali Luv twerking up a storm with her model bestie, “Wild ‘N Out” star Rosa Acosta.

We had another ‘After Dark’ bus go out in Hollywood before the rave bus Saturday night, and it was hosted by comedian Daphnique Springs … she had everyone laughing and had us thinking we need to start a comedy bus.

Tekashi 6ix9ine already knows what he’ll be up to after he serves his 3-month prison sentence next year … because a judge also ordered him to 12 months of supervised release with some pretty strict conditions.

According to court papers, obtained by TMZ, the rapper’s supervised release will include a mental health treatment program focused on anger management and an outpatient drug treatment program.

Last week, 6ix9ine told us he wasn’t worried about doing his prison bid — set to start January 6 — because he plans on using the time to get in shape.

6ix9ine has been on probation since coming home in 2020 after his highly profiled racketeering case involving the Nine Trey Gangsta Bloods, where he testified against them after claiming they double-crossed him.