And Yes, millions do travel to Mexico every year, and those that do venture beyond the Frontier Zone usually do so at 35,000 feet in the air. And stay in "Safe Zones" when they are on the ground.
But enough opinion. If anyone is seriously interested in taking an RV into Mexico, be sure you read the latest updates from the U.S. Department of State on this site:
Mexico
This rises well above opinion and spot experiences.