Aviram Oshri, a senior archaeologist with the Israeli Antiquities Authority (IAA), has said: "Basic medical knowledge tells you that a heavily pregnant woman could not ride a donkey that kind of distance without losing her baby." Although medical knowledge was primitive in those days, that much information would have been generally known. Joseph and Mary would not have had access to a method of transportation other than walking on foot or by riding on an animal.
The census, for which they needed to travel the 150 km (93 miles) to Jerusalem, took place in AD 6 or 7, when Yeshua was around 10 years old. And at the time of census no one was allowed to travel. Anywhere.
Besides, there were two towns called Bethlehem in those days, one near Jerusalem in Judea, and the other not far from the site where the village Nazareth would later be built, in Galilee. Logic says Jesus would have been born in Galilee.
The only reason why the Bible editors would have Jesus born in Judea was to fulfill the prophesies of Micah 5:2, where the Messiah was to be born in Bethlehem in Judea. Galileans, at that time, were not considered very sophisticated, and a Messiah from Galilee would not work.