Getting a less touristy trip while staying in Cabo San Lucas?

My husband and I are considering joining some friends on a trip to Cabo. They're "all inclusive resort" types and we're more "find good, local places to chill and get to know the culture/people" types.

We both love the usual: good food, art/music/shows, markets, hiking and swimming... I love anything (ethical) to do with animals (wildlife or domestic).

So... Any thoughts or pointers on how to turn a trip to a resort town into something a little more our style? Considering either splitting the trip and doing a few days somewhere close (Todos Santos?), or doing half-day trips and using the resort as home base to hang with our friends.

Any input appreciated!