Acre Baja Acre is a 35 minute minute drive from Esperanza but the Ubers are only around $15 each way and it is so worth it. If you arrive 5 minutes early they'll take you on a tour of the entire grounds in a golf cart. May need reservation.
Just a short 20 minute drive from the resort is the town of San Jose del Cabo where they have an amazing art district. You can spend the day walking the streets visiting the art galleries and restaurants, or on Thursday night, go to their famous Art Walk.