iherebyresign - Roads are safe and decently maintained. You and wife should have no concerns about renting a car and driving anywhere along the corridor. If going into downtown Cabo San Lucas park in the mall parking structure (or any white curb). However, note the $18 for three days surely does not include insurance. You will be required by to buy liability insurance (Mexican law from my understanding). Inquire with your provider what that cost will be. You should also have physical damage insurance, but hopefully you have a credit card that offers that free of charge as primary.