Depending on how many years it has been since you've been down you could find some changes. Road down is better (except on the AZ side from Why to the border. Gila Bend area roads much better. Sandy beach is lined with Condos.
If you loved it before and felt safe I would say that you will feel the same. More check points on both sides but we've never had any problems with them. A smile goes a long way both sides of the border. People are as wonderful and friendly as before. More things to do and places to eat.
A passport or card is required, but if you don't have it I understand they still have to let you back into the USA (be sure to bring lots of photo id - birth certificate if possible - if you don't have a passport/card). Don't forget Mexican auto insurance - you can do that online now. And no stopping for visas.
Just watched the most incredible sunrise - but then that is almost everyday. Sea is smooth and calm and the beach great for walking. You really should come on down - you'll love it at least as much as before and maybe more.