Roger,
Give this a shot, if you have a GPS (if not, they are cheaper than the tours)
This guide will get you a good start at doing Baja on your own.
www.bajagpsguide.com
Give Kacey a call if you have questions, she is wonderful and very knowledgable about Baja. Tell her Rod sent you.
The book will give you a good clue as to weather you want to central camp or do a point to point. I think most people ride the p to p type rides.
Rod
(I recieve no $ from this publication, but I do have a couple of stories publised in it)