Forget north Baja. South of the 28th parralel, is a whole other state in Baja, much safer, in fact, the safest state in all of Mexico. What the heck, make it all the way to Cabo, La Paz, Los Barriles, Todos Santos.
Try San Felipe for a weekend. Don't drive at night and don't drink and drive.
I go down and do not break the rules and don't call attention to myself and have never had problems beyond what you could have on vacation ANYWHERE.
After your first trip go further and check out Bahia de Los Angeles. (LA Bay)
Are you a fisherman? this is the place to be in the spring. Summer here is almost too hot to handle. Further down would be Mulege and Loreto. If I fly down I land in Cabo and drive north. (Cabo San Lucas is overpriced and over developed)
Go check it out for yourself and you will be hooked
Yeah, driving at night can be scary when you get the suicidal ghost cows wandering the highway looking for lost souls to take to pasture. Gotten close to hitting a few. Bad FOR the grill, even if they are good ON the grill.