Vagabundos del Mar
has the closest thing to great travel services for Baja that I know. Under "Boards" on their site they have forums like this one. If you join you are entitled to chat up their office staff for current travel info. Vags are always reporting trip info, so the staff is as current as anybody.
If this is your first trip, you may want to use their Travel Buddies Calendar to announce your intended travel dates & partner up w/somebody else for your move dates.
Vagabundos can also handle all your insurance needs. Consider the legal insurance, I needed it once and it was waaaaay worth the price.
IIWYI'd cross south at Tijuana, and cross north back into CA at Tecate. The Tecate U.S. guard station is way more accommodating for RV traffic than the TJ crossing. On approach get into line w/the cars (unless you want to experience road rage Mexican style), and when coming up to the Tecate crossing, wait for the left lane to allow you to pull in. Most of the Mexicano militarios know that's the one that has the turn radius for RVs so you will likely be directed there by the Mexican guards, but in case not just politely wave them over & explain you need the longer turn radius out of the left lane. Our 37ft motorhome w/towed pickup makes it fine. Tijuana was designed by a moron who should be conscripted for life to directing RV traffic there, that would fix him.
We've been as far south as Loreto w/the RV, La Paz driving, and Cabo by air. Baja is a hoot. You'll have a lot of fun. La Paz is beautiful, and a very Mexican town outside of the restaurants & hotels along the bay. If you are there July 31-Aug2nd we'll waive at you. We'll be there buying uniform materials for the kids of Mulege.