Yes, I would say on the whole, dogs are really worth it, for all the above reasons. BUT I would caveat this by saying - they can take a while to be worth it.
I think it's good to be cautious and think it through carefully as you are obviously doing, but if you are anxious I would ask what your anxieties are and work out if a having a dog might trigger that. Because it is a massive lifestyle change.
There has to be at least one person in the family who absolutely unconditionally and equivocally will bat for the dog always. For whom they cannot survive without it. I say this because there will be times (during adolescence probably!) when you will wonder WTF you have taken on and that is the time when the dog's champion will step up and say, whatever happens (bar attacking, obvs!), we are keeping this dog.
The other thing I would say is - have a good infrastructure around you. So, (a bit like choosing your child's nursery before it is born!) check your area for puppy classes, boarders, walkers, join the local puppy facebook page to meet fellow new owners, see which local vet does puppy parties, is there a KC good citizen puppy training scheme near you? A dog park? All these things will support you and - in the case of a dog walker (or class), help your dog become a lovely sociable pup whilst also giving you a break.
Finally, on the separation anxiety. I have always found (others might disagree) that the more bonded a puppy is to me in the early days, means they are far more chill at being left later on. So that might mean sleeping with the pup for the first couple of months. However, I would also say that pups vary enormously and some pups (or breeds) can be more clingy than others.
Phew. Anyway, sorry for essay. But yeah, basically, I have had more fun owning a dog than not.