It is always 100% worth it to join a guild (and communities). Even if you don’t have a very regular schedule, over time you’ll find you’re grouping up with familiar names instead of strangers.
The social side of this game is a stronger lure to those who engage it in that the gameplay ever was or will be 
You might want to investigate the Scared of Dungeons community, since they are basically set up around making people not afraid of doing dungeons.
(There is a rumour that the invite link doesn’t work, in which case I’d just poke them in that thread.)