We did this as a day trip from Honolulu and it was great. You can see a lot of beautiful nature on O'ahu as well, but witnessing an ongoing volcano eruption is just something else, would definitely recommend. As of 11/22/2022 you can see steam and a silver lava lake with an orange glow behind it (so don't expect a flow/geyser), but this might change and is still with other spots we visited more than enough to feel the power of Kīlauea -- 100% worth it.
Jill was a great guide, provided water, snacks, binoculars, a scope, and the toughest umbrellas I've ever seen (much needed). We enjoyed her personal stories and she always had good answers to our questions. There's a lot of different stops included which we appreciated, although we felt a bit rushed a few times; more time at lava fields and the visitor center would have been nice, as well as some time to actually experience the gardens (we only drove through).