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
2007 BMW R1200 GSA
2010 HD Ultra "Limited"