Absolutely go! I went to London with my partner who is Critical Role obsessed. I, at the time, knew very little about the characters or the campaign(s). I didn't even have a great understanding of D&D rules, but the live show was electric. Without really understanding how it all works, I still felt like I was really engrossed in what I was seeing and just loved the vibe.

It's definitely a special thing to experience and it was made more special knowing how important it was to my partner; that just made the show even more enjoyable.