Is Driving From Brownsville, Tx To Puerto Vallarta, Mexico Safe?

I know about insurance, driving at night, and staying on toll roads. I will be in a small SUV. My wife speaks fluent spanish and we have traveled by bus in Mexico before. However, we have two small children and are apprehensive even though we think it should be okay.
Please only respond if YOU have driven in Mexico, not with what you heard from a friend of a friend. Thanks!