Question: "Is there a way to ... be allowed to travel and claim UDHR in a “smooth way” at the borders?"
Answer: Yes, but the UDHR is meaningless with respect to it. The usual way is to pay whatever price is demanded of you for unlimited travel privileges, be it money, your body, or your soul. One must buy into "the club" and acquire connections who, on one's personal behalf, will suspend certain rules designed to monitor and control the little people. The only alternative is to be rich and have your own airplane, but this requires that you be a club member as well.
There is indeed a "club", and the only way to become a member is to join strictly on its terms and not your own. In fact, you are required to agree to those terms without even knowing exactly what they are. Like an initiate to a secret society, you must agree to them sight unseen, submitting unconditionally to the unspoken agenda and absolute authority of its proprietors.