IMHO the Tecate crossing is better both ways. If you're staying longer than 72 hours, you can park your car on the US side and walk across the day before to get your tourist permit. And once you do go across with your rig, you don't have to worry about how to find Mex 1D (it's a little tricky). You just head south on Mex 3. It will take you through Baja's wine country where there are winery's to stop overnight and sample some of their product and have a good Mexican meal. Or you can drive through to Ensenada.
In Ensenada, a little ways past the Estero Beach Hotel & RV park there used to be a quirky RV Park called The Mona Lisa. Don't know if it's still there but that's where we stopped on our last Baja Trip. Unlike Estero, it has waves breaking against the rock sea wall and a sand beach next door. Just about every vertical surface has colorful Aztec bias-reliefs covering it. See photos below and at my website.
Thru my windshield
My Coach
Some Bais-Reliefs
Typical RV Site
As far as camping the coast between TJ and Ensenada, with the exception of Rosarito Beach, most of the RV Parks are up on the bluffs above the beach (if there is a beach) and on the old Mex 1, not Mex 1D; most people just keep driving until they get to Ensenada.