I’ve driven to Cabo San Lucas in a 1965 Land Rover 109, right-hand drive. That was around 20 years ago.
It was a great trip, and Mexico is a lot safer than the US in many ways. The best part is the tacos and the scenery and the beaches along the way.
A few things I learned:
Get Mexican insurance. As others have noted, if you get in an accident and don’t have insurance, you go to jail. Plan on the trip taking several days — it’s around 1,000 miles, and 250 miles/day is a LONG driving day, especially if you stop to enjoy the scenery. Which you should, since that’s the best part.
Drive slower than the speed limit. Speeds are in Kilometers. So 35k is like 20mph or slower. 70 is 40, 100 is 60.
Don’t drive at night. When cars or trucks are coming in the other direction, hug the right side of the highway, but don’t go off because it’s often soft sand.
Hotels are cheap, but for the most part are not as clean and shiny as American hotels. I slept in the back of the car, which worked out well most of the time; usually I was in a campground, which there are a lot of. Other times I just pulled down a dirt road to the beach.
Be prepared to be searched, usually by the military. If you’d like, carry some cold sodas to give to the officers after they’ve searched you — they love that. Do not carry drugs of any kind. If you take a dog, be sure you have its papers. Try not to bribe officials, if you can avoid it.
Get the AAA guide to Baja. And enjoy it.