None of advantages of a caravan seems big enough to me to justify extra cost and added limitations. I admit, I've been to Mexico a few times before taking a trailer there, but the 1st time I didn't speak any Spanish and 2nd time knew just a few phrases.
So it's hard for me to identify the biggest advantage of caravan. Maybe - paperwork at the border, though I haven't heard of anybody being denied entry because he couldn't figure out how to get his TIP and tourist card. At the border most officers - 60% at least - speak English.
Booking a campsite? In Mexico most campsites are 1st come, 1st serve. You are more likely to encounter all-full campground in popular snowbirds destinations in the US than in Mexico, and in Mexico there will be always another camp nearby.
Safety? Don't even want to comment on that. There are certain areas to avoid, but the rest of the country is at least as safe as the US. Theft is a problem though, mostly in scarcely populated camps and beaches. Don't leave anything outside.
Road choice? You can plan your route in advance, and if somehow you stray off and find yourself on a poor quality road, just use your common sense and slow down until it feels right.
Since you are asking whether you should take caravan, you should probably take it. Because you are afraid and staying in a group with a guide will make you feel better.
For those who like doing it on their own schedule, who like (and can) plan the trip, I would say - no caravan.