Is it worth getting to Beagle Point? Absolutely. It isn't the system or even the planet itself that makes it worth it, though. I would argue it is not even the view back across the galaxy (although that is something indeed). No, it is something else and that is the feeling of being where a stubborn and dedicated group of explorers made history. You won't see any memorials to any of them on the planet (at least not yet) nor audiologs broadcasting from nav-points in orbit. Nothing like that. The planet's surface is bleak and lonely and desolate. Ask anyone who has ever attempted to drive across it in an SRV pole to pole or who has successfully driven around the circumference. There is nothing there but monotony and darkness and loneliness . . . Except this is a haunted planet now. Riddled with lost voices and persuasive echoes. Shades linger in the black crevasses. Spirits drift uneasily across the craters. This planet is not so much the surface now or the long bleak horizon. No, Beagle Point is a well of stories and events and escapades you will rarely find elsewhere. From the initial landings to the fly-bys; the long sad departure; the little bug-like SRVs crawling across the pitted surface; the solitary moment when two explorers met and parked up 2 Lakon Type 6s; the coldness of realising that you may be the last explorer left in the system . . . Beagle Point now is all this and more. It is history and perhaps even legend. Travel on and land there and you will become part of that legend - and perhaps even add to it.
Those doubts are normal - expected even. It wouldn't be worth it if doubt didn't worm its way into you - especially now if you are so close. Conquer that and you can conquer the furthermost reaches of this galaxy. We all suffered them - but in the end, it is the journey which is the achievement, as others have pointed out here, not the destination. And no journey ever worth taking has not had doubt inscribed in it. A journey without doubt is no journey at all . . .