Our first trip to Mexico was with Baja Amigos and we had a fantastic time. Part of the deal was membership with Discover Baja Travel Club which pre-processed the FMMs (tourist visas) and gave us valuable info on travel in Mexico. Since then, we've traveled extensively throughout Mexico on our our after getting our feet wet with the caravan. We still use Discover Baja for processing and insurance throughout the rest of Mexico as well. Lots of options for you. iOverlander is a great source for camping info as well as Church's. This forum is great as well. Just ask for advice on best places to go, where to stay, how to negotiate the border crossings, etc. and you'll be on track! Buen viaje!