I hate cities, LOL. Are you pulling the boat or is somebody sailing? The road is curvy and some is kind of mountainous. The lack of shoulders can intimidate if you aren't used to it. And I noticed the drivers drove like stereotypical Californians (fast) rather than the somewhat slower Sonorans and Chihuahuans I am more familiar with. All drive faster than the speed limits and cross solid lines when needed for passing slow gringos or heavy trucks.
In Mexico truckers will signal a car behind them when it is safe to pass, they aren't making left hand turns.
You don't need a visa in Baja, though I read they MIGHT ask in Baja Sur at the crossing. They just waved us through and over the under vehicle pesticide spray - there were signs that it was $30 but nobody was collecting when we passed. They did look at passports at the checkpoints and made us get out while they did a grope of a couple pieces of luggage, no real effort was made.
Are you planning to take the ferry across or drive from the US for the Panama run? We were really close to taking the ferry to Guaymas, but time was a factor (we were in a rental car - Enterprise allows travel to Mexico but the daily insurance is a rip-off)
I have always felt safe driving in Mexico and even get caught traveling at night way more than I would like, a friendly attitude and willingness to try to comprehend goes along way (and "not" comprehending can be helpful at times too).
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