The free listing: yes, claim and complete it — it ranks for your brand searches and feeds data to other platforms, costing only an hour. Yelp's paid ads: heavily industry-dependent, and for most home-service businesses the lead costs compare poorly to Google.
Weigh it empirically like any channel: Yelp will show you competitor activity in your category, and your own listing's traffic stats hint at whether your customers are there at all.
One warning shared by many owners and worth knowing going in: Yelp's sales outreach is famously persistent. A polite standing 'no' costs nothing; the listing's value doesn't depend on buying anything.