I've visited Cabo many times. One change to my travel plans made my last trip the best yet.

• I've traveled to Cabo many times, but this was the first time I rented a car there.
• It was one of the best decisions I've ever made because I got to experience more local life.

I've traveled to Cabo — both San Jose del Cabo and Cabo San Lucas — more times than I can count to attend weddings, bachelorette parties, birthdays, and personal trips.

I know the best hotels (Waldorf Astoria Los Cabos Pedregal and Drift San Jose del Cabo) and dining experiences (El Farallon and Flora Farms). I can tell you exactly where to swim (Medano Beach) and who to book your whale-watching tour with (In Cabo).

Even though I'm a self-declared expert, I've largely done the same rotation of things on each visit. But on my last trip, I changed things up by renting a car to make my vacation more of an adventure.

I researched, learned the rules of the road (nothing too out of the ordinary), and booked a vehicle that I picked up at the airport.

Looking back, that one travel-planning tweak made such a big impact on my Cabo trip.

With a car, I could easily venture outside Cabo and explore more of Baja

Instead of spending most of my time in central Cabo, I used my rental car as an excuse to explore more of the Baja California state.

I drove a little over an hour northwest along the coast to Todos Santos. Along the way, I stopped at an organic market on the side of the road called Agricole Cooperative that I never would've visited otherwise.

I did some research ahead of time and found out it's known for its strawberries and cream dessert. After ordering it, I completely understand the hype.

Todos Santos was such a charming town that I decided to make a whole day of exploring it.

I had a delicious seafood lunch at Oystera, a chic oyster restaurant and bar, before hitting local shops like Nomad Chic and Zocalo on Todos Santos Road.

I got ice cream at Baja Tasty then drove 10 minutes to check into Paradero Hotel for the night. It features stunning architecture that blends nearly seamlessly into the beautiful natural setting around it.

My room was on the second floor, so I was able to gaze at the beautiful scenery from an outdoor flat-net hammock that hung over the desert garden.

By the first evening, I was already getting a better sense of the region and the local culture, and I wasn't surrounded by tourists like I typically am when in Cabo.

The flexibility and freedom allowed me to do more than I ever have before

The following day, I headed to La Paz, the capital of Baja California Sur.

Since I had my own car, I could make roadside stops at popular spots along the way, like La Garita del Chilpa restaurant. I grabbed coffee and a bag of "snoring" cookies that soften and crackle when dunked in hot liquid.

After my pit stop, I continued driving north for a little over an hour to reach La Paz, which is known for its fantastic marine life.

The city, located on the Gulf of California, is famous for whale-shark diving and snorkeling — there's even a statue of a whale shark on the waterfront promenade. Unfortunately, I missed the opening of the season by a few days.

Instead, I quickly checked into the retro Baja Club Hotel, grabbed an ice cream from La Michoacana, and immediately drove to Balandra Beach.

The beach only allows visitors to enter twice a day, once in the morning and once in the afternoon. I recommend asking a tour agency when the opening times are for the day you're visiting.

After lounging in the sun, I dined at the trendy Quemadero restaurant. It had views of the sea, indoor and outdoor seating under string lights, and a hidden nightclub.

My adventures didn't stop there, though. The next day, I took a 45-minute boat ride to Isla Espiritu Santo and spent the day diving with sea lions and other underwater life.

I ended the night with an intimate dinner at Nemi, followed by drinks on the roof of República Pagana.

I can't imagine visiting Cabo without a car ever again

Even with the extra travel time — a little over an hour each to Todos Santo and La Pez and about two and a half hours back to Cabo — renting a car was one of the best decisions I made on my trip.

I still got to do all of the things I typically do in Cabo, but I also had the flexibility and freedom to venture out and get to know the Baja culture, foods, and locals.

It was such a great way to get out of the touristy areas and learn more about the region's beauty. As a woman traveling alone, I also felt completely safe throughout the entire journey.

Renting a car on vacation — especially in another country — can seem over-complicated and daunting. But if you're planning a trip to Cabo, I highly recommend taking the leap.