I would agree. We love mainland Mexico and from the cultural and historical point of view it's hard to replace. Amazing country and rewarding RV experience. However the Baja has lots to offer as well and provides a different experience while still allowing for an enjoyable Mexican experience. The history is from a different and newer era and it is a much more laid back experience but that comes with advantages for the novice RVing in a foreign country. I'm not sure I noticed more english speakers along the way but the locals, the security checkpoints and tourist industry in general are certainly more used to dealing with RVers and the challenges that can arise. Traffic situations are very few (important for a driver like me) and getting lost is hard because the towns are smaller and there is only one main highway going down the peninsula.
Obviously learn the courteous words like please and thank you, Señor y señora etc. Many people working in the tourist industry will be able to converse at a basic level. Many police officers will have a reasonable vocabulary. Not so much the military but they have bilingual cue cards and signs where they will be able to point to a question and you will be able to point to a response.
Enjoy your trip. Amazing country and we have enjoyed our time there immensely. We have RVed through 27 of the 31 states and look forward to returning someday but for now we are more centered on Europe and North Africa.