Just got back from a two week trip to Baja. We took our 31' Class C and pulled a small trailer with our Polaris RZR. We used the RZR everyday from taking a 100 mile trip to the Mission of Santa Gertrudis, driving on the city streets in Ensenada to the Mercado, to driving on the beaches and trails. We went as far south as Guerrero Negro (the whales are probably gone by now from Scammons Lagoon). We had some serious problems with the farm laborors in San Quintin - they surrounded us and pounded on the motorhome. Scary at the time but they didn't break anything. Highway 1 still has some rough spots and washouts at Catavina. Spent some time at Bahia de los Angeles. We were unhappy with the conditions at Daggets(?) but we drove the RZR up to Gringa Beach and had the place to ourselves; one of the highlights was watching the whales across the bay.
We made the mistake of exiting at Mexicali late at night. Crowded and slow even at 10pm, poor signs and directions.
Church's book on Baja was invaluable.