In the 70s I would drive all over Mexico. At that time the only problem was corruption and the occasional bribe, "La Mordita." I had no fear for my life. I also speak Spanish and was raised on the border, my wife is from Mexico.
Today we would not even consider driving into Mexico. It is very easy to get dead because you are in the wrong place at the wrong time or can be considered a victim for kidnapping for ransom. If the ransom is not paid you will be killed.
Do not go to Mexico unless it to a resort with transportation from the resort. That is safe. Otherwise you are a target.
I went to Juarez a few times with my wife in ‘86 when I was stationed at Ft. Huachuca. Today, not a chance.