my scenario as of Summer 2018:
no car towed.
skip buying Mexican auto insurance. i had one and no one asked to see it. (twice on two separate round trips)
skip getting my pet mexican papers filled out by an American USDA veterinarian. i had one and no one asked to see it. (twice on two separate round trips)
gas up to Full in America near the Border. Mexican gas costs more as of Summer 2018.
get your dollars exchanged into Pesos at the Cambio/Bank sidewalk tellers prior to the border crossing.
have your passport, or border card, or birth certificates ready.
cross the California border entering Mexicali without any eggs, avocados, potatoes, meats. (our remaining supply was confiscated when we left Mexico.)
or cross the Arizona border from Lukeville entering Sonoyota.
stop by the Super Ley food store in Puerto Penasco, buy your food what whatnot.
if you reserved at U SAVE car rental, go there during its hours and have your passenger drive the rental.
With your new food and maybe rental car, try arrive on a Tues, Wed or Thurs at the Bonita Playa RV park (better sand and gentler waves). Pay a single night at a base rate of $24 for a NON beach side parking. If more than 2 people, pay $2 extra per person. Mine got to $32 a night. You still should get some views of the ocean before the weekenders arrive and grab up all the beach side parking. But the walk to the beach is just a few more yards away.
The next day, if you are happy with the area, go back to the office and pay an additional night.
5 minutes regular walk by sidewalk to the nearest restaurant its accompanying few floors hotel. or 30 minutes sandy beach walk to Calle 13 (where many taco shops, ATV rentals and mini stores line the streets)
if no rental car, take a cab to the Malecon on a Friday or Saturday to see the hustle bustle of vendors/visitors and restaurants. Or if you are in good shape and strong, walk an hour or more to the Malecon and you will pass a storage yard of Bubba Gump type of Shrimping Boats as well as the harbor.
Going back, look at your gas gauge, if you are confident it can make the trip back to the border, skip gassing up in Mexico and fill up in America before 1/4 tank turns off the generator and stops your air conditioning in the summer
Have fun!