Cabo San Lucas 

A city of more than 200,000 inhabitants.  Very touristy fed by passenger ships. Nice eateries.  Small boats are at the ready to ferry you to lands end. Near the sea arch (El Arco Cabo San Lucas) a walk about beach lends itself for a later pick up if you wish.  I used a book by MIke and Terri Church, Camping Mexico's Baja. It is a great reference guide to have with you.