I don't know how it is now but I went through Sonoyta a couple of times on the way to Puerto Penasco. That is as far as the road goes so they didn't worry about turista cards or other formalities. Nice place if you avoid spring break.
Of course back then the road out to Quitobaquito Springs paralleled the border and Mexico Route 2 was about 100 yards on the other side of a three strand barbed wire fence. For a while the road was closed and after that the park people ran you out in a van with armed guides. The last time I was there you could drive yourself and they'd built a welded steel fence that was even easier to climb through than the barbed wire.
Yeah, but the Yaris has some creature comforts. I took a ride-about around Halloween one year and took 191 from Three Way up to Show low. Nice ride but it was a bit of a surprise when I came around a curve north of Alpine and found myself in snow. I was happy it didn't last long. 4 wheels definitely better than 2 in snow.
The road I'm thinking of is deceptive. It follows the river from Merlin and is good paved road until you get to the launch point for the rafters. You cross the river there and don't get anywhere near it until you get close to Gold Beach. Lot of twisty little unmarked dirt roads. It's mostly NF/BLM. I'd been to Crater and was following the river.
The company I worked for hauled a lot of carpet and furniture. They're pretty good indicators of economic health and Medford wasn't getting much of either. There was a diner with a sign advertising spotted owl stew.