Pacopico, I've driven from Ensenada across the desert to San Felipe and the only time I used a paved road was when I crossed over one in my 2wd X. I got stuck once in very soft sand, more like silt, but there are countless dirt roads and trails all over Baja that are very very 2wd accessable.

There are also many mountain roads up in the hills off to the east of the main toll road from Ensenada as well as countless trails going east into the desert and south into Ensenada from Rosarity and beyond that are quite 2wd accessable.

Your biggest enemy is the soft sand and silt as well as many many sharp rocks littering the terrain. The faster you go the better your chances of hitting a jagged rock.

Obviously the standard rules of off-roading apply such as know your terrain, don't go alone, and take safety and recovery equipment.