I know you mention west coast and Baja but you don't say where you are in Canada or what route you might take to the border. It would also help to know what you like to do and see. We have done almost all of Mexico but will never claim to be experts. What we like most is the ancient ruins and the history there. And we love the colonial cities in central Mexico. We have done the beaches but prefer the mountains. We spend a little time here and a little time there - we don't just go to stay in one place - though we do return to some of the same places each year. So are you a wanderer or a sitter?
Above the Church book is recommended - DO NOT LEAVE HOME WITHOUT IT!!
We use a Garmin GPS for navigation as well as a Microsoft program called Streets & Trips for planning our trips - a million times better than any map we know of. Here . . . http://www.sct.gob.mx/informacion-general/planeacion/cartografia/mapa-por-estado/ . . . you will find the MX Gov't maps of each state in .pdf format that can be downloaded to your computer. These are overview maps that do not have city street type details. This is where places like Guia Roji get their maps. But these Gov't maps are the size of road maps - about 2 or 3 feet by about 3 or 4 feet. Obviously you cannot clearly see the entire map at one time on your computer but you can use your computer to zoom in and move the map around. You can use your computer Snipping Tool if you want to print a section of the map - you can do the same with Streets & Trips at a city street level - great detail.
This forum is a great source of info if you take the time to go back and search. Be sure to read the Sticky info at the top to learn about paperwork and insurance you will need to know. Tell us more about yourself and what you like and what you want to see and do and people here can better direct their advice to help you custom tailor your trip.
We have met single women RVing in Mexico. We have a dog and find she is a great help as many Mexicans bring their children up to fear dogs and this fear stays with them the rest of their lives. Don't get me wrong - the Mexican people are some of the nicest people you will ever meet - strict Catholic upbringing and strong family ties - very polite and hospitable - great people and one of the things we like most about Mexico. But their are also bad people so some caution and common sense should be used. We have traveled on and off in Mexico over the last 40 years or so - spending winters the past 8 years - and have never experienced any crime or corruption - not to say it does not exist but it is probably not as prevalent as many make it out to be.
Keep asking questions here.