I was fortunate to enjoy a lifetime in baja during the 60's & 70's as a kid, and spent six months down there in 81. I've been down quite a few times since, but I'm less inclined in the last 8 or 10 years. I would classify it as potentially dangerous in terms of travel. I never travel in a group with less than three vehicles, and would never take a trailer down there. I have a very rugged double-door shell on my truck for Mexico type traveling & camping. I wouldn't classify it as RV traveling, and an RV turns you into a target. I'm not trying to scare you, it's simply experience speaking. It's third world travel down there, a corrupt culture, and relatively poor. As with most everywhere, thugs are much more emboldened compared to 20 or thirty years ago, and highway piracy is a growing concern.
A trip into Mexico is either a very good trip, or a very bad trip. I've had very few in between, and very few bad ones. The bad ones are usually due to traveling with an inexperienced novice, or kids acting up, not understanding they're in a foreign country. I go prepared and operate defensively. It can be very hard on vehicles & you need to be very diligent on the road. I can't overstate that. It is not unordinary to come around the corner of a winding downhill road and find someone coming at you in your lane passing blind. Road conditions can be sketchy in places, and you cannot relax behind the wheel. If you are forced off the road suddenly, it will not be a soft landing. My grandparents took their trailer down there, and always traveled with two spares just for the trailer.
Outside of the cities, the country is beautiful, villagers tend to be genuine once you get to know them, and it's a great place to experience.
Above all, I've always followed one rule in Mexico. I never go down there with anything I'm not willing to leave there. The other rule I'd follow is to be nice to people down there. They are for the most part, a very nice people. I found that if you stay in an area, it's good to get to know the local villagers, come bearing gifts if you frequent an area repeatedly, and smile when you converse with them. It's also cheap entertainment for them if you know enough to butcher a few Spanish phrases.
I have plenty of stories, as would any regular in Mexico, but those are best around a fire with a grill. I will say that I've only been shot at twice, and they were just friendly warning shots. If you make the trip, you'll have one or two stories as well. Mexico is always good for a story.