It might be a milkweed such as Asclepias variegata. If you knick the leaf a bit, it would oozes milky sap if it is a milkweed.

Gee, I have been wanting some milkweed to plant in the yard.

A couple of years ago, I threw some seeds that I had saved, along the 400 foot driveway, hoping some would grow.

I put a temporary cage around this plant, so no animal would nibble on it. I will check for sap later.

Thanks!