Absolutely and without a doubt yes it is worth it. Although the relationship between my husband and I was never lacking we didn't discuss things in as much depth as we have since we started opening our relationship...calling it different things along the way until we found what fit for us.
Also how can something that brings wonderful people into my life not be worth it? Without starting out on this poly journey I never would have met my husband's girlfriend and her other boyfriend or PN and Mono and most importantly I wouldn't have been able to build what I am starting to build with RP.
Yes there are ups and downs but the good far outweighs any negativity.
Everything will be ok in the end. If it's not ok it's not the end.