I spend 4 weeks boondocking in Baja.
San Felipe, wasn't my favorite as that was young Californian destination and those 3-wheelers bypassing cars stop at pedestrian cross were pretty scary.
Don't expect full hookups unless you go to luxury resorts.
Lot of campgrounds supply water, but often it is salty water and pressure sucks.
I re-plumb my coach that my pump was boosting the pressure.
I hope you are good in negotiating the prices as that is every day need in Mexico.
Driving with no room for error takes some practice and lot of RV lost their mirrors on narrow roads.
Per my experience Mexicans in Baja don't steal, but they will rip you off at gas station, hooking up a nozzle from pump that was not reset after last use. Always try to get to the pump before attendant does.
Have fun.