Have you ever been to Mexico?
US citizens ... and all non Mexicans ... are required to purchase a Tourist Visa for stays more than a few days in Mexico or for travel more than 100 miles from the border, either on the mainland or Baja ... a tourist visa is required. If you get stopped South of the "Tourist Zone" (very unlikely) you'll be asked for your "Permiso". (but a military stop may ask)
If you're only day tripping into Mexicali or Tijuana or Ensenada for the day or 3 ... then correct ... no visa required and nothing for the vehicle. But you still should buy insurance.
But if you go further South or stay more than a few days you are supposed to buy a Visa. (rule used to be 7 days, but I think they shortened it to 3 days ... not sure). But of course it's all voluntary as NO ONE is stamped into Mexico upon entry. But it's the geographical bit that catches folks out. If you're found with no Permiso in La Paz ... they can do whatever they want to ... including deport you and at least you'd have to buy a Permiso.
All this applies to all non Mexicans.
And correct again ... NO TVIP for your vehicle anywhere in Baja ... and you can go as far as Guaymas (state of Sonora I believe) on the mainland without buying the TVIP. 
Many Many trips all over Mexico, since 1964.
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