georgialee, I know of people that go back and forth on a regular basis with no issue. I reside in San Carlos during the winter. I came through Nogales on 10/23 with no issues although on that day, there was a shootout in downtown Nogales between criminals and the police. I have not heard of violence involving tourists. I would recommend using the truck route to enter rather than going through the downtown crossing.
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In my opinion, that would be Tecate. No matter whether you're heading for Ensenada, BCS, or San Felipe.
There is a dirt parking lot on the US side (on the right as you approach the border) where you can park your car for a couple of bucks. You can then walk across and get your FMT. The Migracion office is just inside the border; they normally have a a-frame sign sitting on the sidewalk, but just remember, it's the first door you come to. The Banjercito is across the street. There isn't any crosswalk, so just jaywalk. No-one cares.
Then you can either walk the couple of blocks to the main square where you can try out your cash card and get some pesos at the same time, have lunch, window shop, or just sit under a tree in the square and people watch; or you can just go back across the border.
When you're ready to cross, you're all set. Just drive across. You may get inspected or you may not. You never know. I've never been stopped for inspection at this crossing.
If this is your first trip into Baja, I recommend you read my website on my first Baja Trip