If you live somewhere where there are sailboats, there is likely US Sailing or American Sailing Association classes available, which are definitely worth it.

If there’s a yacht club, they will usually have races where they need crew, and where they will teach you to be crew, and then go race with them on their boat. The costs there usually you bring beer/food to the boat and help clean up at the end.

That’s a very affordable way to get into it if you’re not sure how you’d like it or can’t afford it. Boats are expensive and maintaining by them even more so, but in my opinion, absolutely worth it.