Many folks (myself included) prefer to cross the border at Tecate when heading back to the States.  Another thing to keep in mind is that is highly recommended to avoid night driving.  One approach is to plan your trip so that you depart Bahia early enough to arrive in Ensenada well before dark.  It is roughly a 7-8 hour drive, so leaving Bahia for example at 7:00 a.m. will put you in Ensenada around 2:00 - 3:00 p.m. Relax, spend the night (I recommend Motel Colon). Depart Ensenada the next morning leisurely between 8:00 - 9:00 a.m.; this puts you in Tecate between 9:30 -10:30 a.m.  (Weekdays are the times when the traffic should be lightest.  Weekends can be very crowded).  By this time, the border is usually wide open as the folks who cross the border to go to work have already passed through.  Wait times are usually minimal, but of course anything can happen.  But that's the time we like to cross.

The drive from Ensenada to Tecate is hilly and things can get slow when there are a lot of trucks on the road.  Take your time, relax and take it easy; you'll get there fine.  See example of what the drive looks like...

Reaching the Border Crossing:  As you enter Tecate, there are NUMEROUS stop signs; keep your eye out for those and make sure you stop at every one.  To reach the border, turn right before McDonald's. From there, keep going straight and watch for  small, black & white signs that say "Garita / Border".  You'll be making a slight uphill left.  Keep going, and you'll come to a small traffic circle; stay to the right. Continue on to a stop sign where you'll see a larger, overhead sign for the border crossing; turn left.  You'll see a wall up ahead of you and you'll turn left there.  There are only two lanes; the left lane is for semis/trucks only. Stay in the right lane along the curb.  When you come to the gates, motorhomes or those pulling trailers should take the left gate; the gate on the right has a sharper turn and I've seen trailers get stuck there.  There is a sign advising this but it's difficult to see and by the time you see it, it's too late!  

Now when heading back down to Bahia, I cross at San Ysidro.  I leave at a time to avoid the heavy morning stateside commute and arrive at the border between 12:00 p.m. - 1:00 p.m. in the afternoon.  See photos of where to get your FMT/Tourist Visa at the Tijuana crossing.  I do some shopping and head on down the road to Vicente Guerrero where I like to stay (Motel Sanchez); San Quintin has some nice hotels and is just a little further down the road; whatever your preference is.  I like staying someplace with a courtyard type layout where I can park right in front of my room, and where they have someone keeping an eye on things during the night. Both Motel Colon in Ensenada and Motel Sanchez in Vicente Guerrero fit that description.