The timing of this may work well for me. I'm down for another trip down the ol' ECDD.
1Louder is correct, a decent chunk (40 miles or so) between Yuma and Tule Well already were or have been turned into a wide and flat road due to border wall construction in mid-2020. The areas east of Tule Well are largely untouched, the north road to Christmas Pass from Tule well is still normal as well. Tule well can easily be reached in a day from Yuma now. The Tinajas Altas at the Yuma end are epic for camping though.
There are very few obstacles that require more than 2wd and even those can be overcome with careful driving. The washboards can be pretty... annoying. The 126 miles can be done in a day, but there are stops worth stopping at and i tend to stretch it into 3 nights. My first trip out was done in 2 nights (before the road construction) and honestly we missed a lot because of our pace. The desert out there is the epitome of the Sonoran Desert. I've got GPX/KML routes with stops and areas for camping marked if you need them. This is a really great trip for beginners. It is remote enough to challenge you but there is enough border patrol that help isn't that far away.