A jajake56 says, if you fly in to San Diego airport you can easily take public transport to the border for $5. If you have more money than time, an uber or taxi from San Diego International to the San Ysidro border crossing ("pedeast") will cost $40-80 depending on traffic and surge pricing, but will take 30 minutes rather than 90.
A reservation depends on where you are staying, but also when and how important it is to stay at that specific hotel. Most decent hotels in Tijuana are just like at the US. They have web sites and can be booked online. There are reasons to stay inside the zona, or outside the zona, so it really depends on what you are looking for with the trip.
If you want to stay at Hotel Cascadas (at the Hong Kong bar) on a weekend, you probably want a reservation -- especially if you want a special room
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