I contacted a "Vagabundos" located in Rio Vista, Calif. for information
, brochures on traveling to Baja, mexican insurance. They also organize and lead travel groups to Baja.
You will need a document from your bank giving you permission to take your RV into Mexico/Baja unless you have your RV paid off. Strongly suggest you buy your vehicle insurance BEFORE you cross the border. Do not recommend trying to buy insurance right at the border. Look up Oscar Padellia mexican insurance, I think you can buy it over the phone. DO NOT drive into Baja/mexico with out insurance. It could turn into a nightmare if you get into a collusion or accident.