Yes, it's worth it.
Do it.
The real bad part of the stock exhaust is the "hot tube" that is down near the back end of the header pipe, which restricts exhaust flow.
Aftermarket pipes delete the PAV and the hot tube, and the bike flows enough better to need a jetting change.
Improve the air filter to a more free-flowing one, and it gets even better.
These free-flow breathing type mods are the best performance mod for the money that you can do.
Just make sure you re-jet the carb correctly richer, or you'll be too lean after doing these mods.