In my experience, boondocking in Baja is more expensive than in the US. Higher gas prices, insurance, FMM, etc. Laundromats are rather hard to find, and purified water is expensive. Local food is cheap, but food imported from the north is pricier than in the US. The lack of designated public lands is also a handicap. Even if there are no fences or signs, ejidal land is NOT public property!
When I stayed in El Pescadero, there was a "hippie camp" of vandwellers who lived on the beach, with the blessing of local residents. In my travels I parked on the beach a few nights without issues, but I wouldn't thinking of bringing a fancy rig and setting up camp on a beach like you owned the damn place. On the other hand, Baja is great if you are an adventurous type living out of a beat-up car or truck, unafraid to try out your Spanish skills and make friends. People are very approachable down there, far more so than in the States. If you are misanthropic or standoffish by nature, you won't like Mexico.
Two rules for safety in Mexico: 1) Don't show fear, and 2) Don't be stupid. If you see some sketchy looking dudes eyeing you, don't ignore them! Instead, give a firm nod in their direction. Chances are they will nod back, and mutual respect is established. Mexico is an anarchic society in many ways; show respect and strength, and you will be respected in turn.