Some info on the situation in Baja California. Look at the right hand column.
We traveled to Baja in a truck/camper and pulled the CD 22 for many years. I may feel OK about doing that again, especially if accompanied by another vehicle or two ,or three. But now, with the TomCat and a 40' motorhome, you may be advertising yourself as an easy target.
Excellent resource, Brent! In reading all of the sub links there I came across:
http://www.bajanomad.com/ especially the forum, which is updated daily by hundreds of people living and traveling in Baja. (some other areas are also included).
Another resource to join is http://www.vagabundos.com/ This group has been taking trailer boats to Baja since the 60's or before.
As for a 40 foot RV towing a Tom Cat--I won't do that on US roads--for one thing it is too long...I figured that my older RV at 30 feet towing a C Dory 25 was 65 feet--and marginal in many RV parks!
But there are folks who are towing 35 foot trailers behind 8'6" RV's down to Baja regularly...
We don't tow the TomCat with the motorhome. I was just pointing out the difference between a truck/camper with an old 84 Angler in tow, and a new motorhome and a TomCat. In 2003 I towed the 24' TomCat to Cabo San Lucas. We spent 3 months there, mostly fishing. Our last Mexico trip.
We belonged to the Discover Baja Travel Club for many years. http://www.discoverbaja.com/ They provide services to members. Visas, fishing licenses etc. Makes stopping in Tijuana not necessary.