Canada will face Belgium, Morocco, and Croatia in Group F, while Mexico will face Argentina, Poland, and Saudi Arabia in Group C.
The USMNT will play England, Iran and the winner of the European playoff.
Despite a 2-0 defeat to Costa Rica on Wednesday, the side still secured one of the three automatic qualification places.
The coach is taking charge of his first World Cup. The country failed to qualify for the World Cup in Russia and he was hired just over a year later.
Mexico will play Poland, Argentina, and Saudi Arabia in the tournament.
The Football Federation of Mexico announced on Friday that the head coach will remain in charge until the World Cup.
Canada will face Belgium, Croatia, and Morocco in the tournament.
At the 1986 World Cup in Mexico, Canada lost all three of its games and failed to score a goal.
A string of lackluster results for Mexico and issues with the vision of the boss had caused doubt over his position as boss, but Mexico eventually finished second in World Cup qualification, booking their place in Qatar.
The tournament will be the first in the Middle East to feature the top prize.
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