It, of course, depends on where you are going. Roads in Mexico, like in the US, are sometimes good, sometimes not so good, and sometimes bad. For instance, from here in Mazatlan to the Arizona border there are two roads. The 'Libre' or free road is two lane, no passing lane, rather narrow, and can be uncomfortable in a motor home. The other "Cuota' is a toll road. It is quite nice, 4 lane divided and comfortable. At each major city you have to go through the town which can be somewhat intimidating. There is a by-pass road, but it is only marginally better. All major highways in Mexico are patrolled by the "Angels Verde" or Green Angles. This is a federally funded emergency road service with new utility bed pick ups painted green with flashing lights on top. They are FREE (Unless you need gas, oil, fan belt, etc. which they charge their cost for.) and are there to help. They are mechanics who can fix many minor problems. The toll roads include towing service and insurance in the price of the tolls. Better than back home don't you think?
I did Baja 20 years ago. One road, quite narrow. Just don't be in a hurry.
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