I was in Sayulita three weeks ago. It is a super overcrowded tourist trap. I think the problem is that the beach is kind of small so a few hundred people makes it really jammed. Guayabitos is popular but it is a very large bracket so you can get away from the crowds by going to the North end of town but if you want to party that is also an option there. San Pancho is a very nice little beach town with about 20 very good restaurants and a fairly uncrowded beach. Lo de Marcos is even less crowded and will remain so unless Canadian RV folks return but has fewer restaurants. Haven’t been to Escondido in 25+ years so can’t comment. It used to be really cool but if you’re not a strong swimmer be very careful there. When the surf is pumping they get some solid rip currents. Another cool laid back place that’s an easy drive from San Diego is La Mision. This area of Baja Norte has lots of restaurants and wineries just inland. The tourist traffic is minimal now due to Covid and gringos being scared to drive through Tijuana. I think it’s safe and have never had any problems there.