The folks above put it quite well. RVers down there are simply friendlier, you don't see them pull in, put up a satellite dish and disappear inside for the duration. I think most of us who go down there do it because we enjoy a different cultural experience, not because we have a death wish. Most of us do look for others to travel with, although I do not think that is a necessity for safety. You certainly can do it fine on your own.
RV Life magazine is currently running a whole series of articles on RVing in Mexico. Started in June. They give them away in Camping World Stores
Golfing in Mexico (Baja)
Is it safeCrossing the borderBaja