Well one of the lowest maintenance of the exotic pets is something you wouldn't think of. Madagascar hissing cockroaches are big enough to pick up and are said to be easy to handle. They can be maintained in a 10 gallon aquarium with aspen wood shavings. The top should be made of a mesh that is secure enough that they can't escape. Not my choice of pet though!

http://exoticpets.about.com/cs/insectsspiders/p/hissingroach.htm

Something more cuddly that you might not imagine, is a skunk. I actually knew some people that had these when I was a child. The can make excellent pets. However, a problem is that skunks are not legal in many parts of the US, so a permit might be required. Their scent glands are taken out, so there is no worries about stinking the place up. Skunks can be stubborn so, it takes a patient person to raise these type of exotic pets.

http://www.bellaonline.com/articles/art4109.asp

It seems the easiest, and most affectionate might be The Sugar Glider. This marsupial animal is sweet and loving. They adore attention and playing. Two downfalls is that they sleep during the day and they require a very special diet.

http://www.bellaonline.com/articles/art4109.asp

Theer are two that are actually suited to the location.
Tarantual and desert Iguana. Both are available from certified exotic pet dealers. Tarantualas are wonderful pets and while scary are really very gentle. desert Iguanas, or for that matter any Iguana are actually very loving, loyal and cute and inquisitive. Though have specific care routines and food choices, they are the best bet for first time exotic pets.