Lynn,
We did our first trip to Baja because we didn't need the TIP and that made things simpler. We were also coming from the west coast and having grown up in San Diego, I was more familiar with the border crossings for Baja as well as some of the towns.
We like staying at the Thousand Trails RV park in Jamul (just east of San Diego) the night before we cross (or sometimes a few days) and then crossing a Tecate and going through the wine country toward Ensenada.
You can get the
Church's book on traveling the Baja and they have a lot of the campgrounds in it with information about hookups.
We like camping on the beach and don't really care if we have hookups for a few days because we have a generator.
After Ensenada, you won't come to any very big towns on the Baja until you get to La Paz. There are some towns that have decent services like Loreto, Guerrero Negro, etc. all of which are wonderful towns to visit, stroll through, etc.
We prefer the Sea of Cortez for kayaking, snorkeling, etc. but others prefer different parts of Mexico for equally valid reasons. There is a lot to do and see no matter where you choose to go.
My husband and I actually made La Paz our permanent home after our first trip down the Baja - so we actually live here in Mexico now and love it.
I'm glad you have a big dog and that will give you greater security. If you want details of some of our favorite places to stay - should you decide the Baja is where you want to go, PM me and I'll be glad to share our entire list of RV parks, restaurants, sites, etc. with you.