Highly recommended!
Especially the ship itself. The best ship conservation/restoration/recreation I have ever visited. Whole family loved it, including dc primary through secondary ages.
The two museums outside the ship are quite wordy, but there are no explanations inside the ship, so it's worth visiting them first to really understand the ship visit. Nonetheless, even the ship on its own is worth a visit.
We spent the whole day there, and will probably go again. Tickets are valid for a year.
Two tips: in the Brunel museum there are drawers to pull out under each case (not immediately obvious), and the dc absolutely loved climbing the rigging (extra cost) so wear trainers and trousers/leggings. There are lockers in the shop where you can leave valuables if you've nobody you can leave them with while climbing.