I rent cars from Gecko in PV, I drive further north than Punta Mita, and have no issues driving all over the area. The 200 road is pretty decent, I just would not drive after dark. Obviously watch for speed bumps, obey speed limits and beware of locals overtaking like lunatics.

I feel safer driving myself than using a taxi. To note I am a female in my 50's.

Gecko includes all insurance, and a very personal service.

Nayarit is very safe, much less police hassles than the Riviera Maya.