Yes ,Baja is considered part of the frontier zone, no TVIP required . Ergo if you didn not get a TVIP there is no way they can trace a time limit on how long you left it parked there . You with your personal tourist card can leave and re enter, either on the same TC if still valid (180 days max) or on a new TC to resume your trip.
If either TC or TVIP is about to expire you will have to go back to a bordr facilitry to get new ones issued.Not all bordr crossings into Baja do TVIPs, best bet is Tijuana or the ferry terminal in Pichilingue for both.
Leaving from one of the mainland crossings is also possible if you leave the bike in Mexico , but then do make sure your TVIP AND Tourist Card will still be valid long enough to cover you when you return .I n this case DO NOT bother to cancel your TVIP nor nor your TC and do not to stamp out on your passport .Technically you will be considered to have been IN Mexico all the time. Trouble looms though if you are late getting back into Mexico to retrieve bike and /or renew the documents.