We lived in Cabo San Lucas from 2000-11 and still have our home there. In 99 we took a 32' 5th down-up-down Mex. 1. This is great trip full of adventure, great people, great food and outstanding beaches (fishing, surfing, snorkeling).
Having said that, even today the road, while much better than 99, was a nightmare. In many, many places it is 9' wide with absolutely NO shoulder. Most everywhere we camped there were Class A rigs with mirrors that had been ripped-off by passing transport trucks going the opposite direction.
The boondock camping about 2/3 of the way down, along the Sea of Cortez (Mulege) is really special, but most other CG's are of very poor quality and the quality of electricity will give your surge protection a work-out...and take extra .5 micron water filters as the drinking water is a mess!
Remember...if you take a big Class A rig there is no roadside assistance, so a flat is really going to ruin your day and most mechanical problems are going to provide a " learning" opportunity for the mechanic. When we were last there low sulfur diesel and DEF was pretty much non-existent so newer diesel tow vehicles and new Class A's will have problems.
Hey all part of the adventure....you really do not need to pay for a guided tour, yet the camaraderie & all the latest "tips" may make it very worthwhile. Good luck.
Jack & Maggie
04-Rexhall Roseair (37)
Cummins ISC / Spartan