YES, YOU DO. Even if Baja California is close to the border of the US, it is still another country so you need a valid passport for driving to Baja California. During COVID, the US-Mexico border was only open to foreigners who are Mexican residency cardholders. If you’re just a tourist, you have to fly. I am not sure if this is the case right now but better check with the consulate in your city if you can travel to Baja California by land from the US or Canada. If you are driving your own car, make sure that you have all the valid permits for car registration. Of course, don’t forget your driver’s license!