The centro histórico of San José is compact and walkable. The beach area south of town is a 15-20 minute walk or a short taxi ride. The tourist corridor between San José and Cabo San Lucas is not walkable — it runs for 30 kilometres along the coast — so a car, taxi, or the Subur Cabos bus service is necessary for moving between the two towns.
Taxis in San José are inexpensive by North American standards for town trips; negotiate the fare before getting in. Ride-hailing apps have limited coverage in this part of Baja. Hiring a car at the airport is practical if you plan to explore independently — the road to Cabo Pulmo (90 minutes up the coast) requires a vehicle, and most of the beaches north and south of town have limited public transport.