Visa prior to crossing
That is what I do now, I get my visa and bike insurance at the same time from "Discover Baja". I'm sure there are other companies that do the same thing. At crossing I just get my visa stamped, and I'm on my way. Since your plan is to ride to Cabo a visa is required, if only riding in Baja Norte it is not.
'Grand Fool' for the 'Group of Fools'
Old Fat Fart
2014 BMW R1200 GSA LC
2010 HD Ultra "Limited"