Well as an old guy that took up surfing very late, I'd say yes definitely give it a go. If you're a water person, there's nothing like being out there just floating on the waves and hanging out. Catching a wave and riding is just a bonus.

Set expectations properly, yes take a lesson or two. You won't be catching any "mean waves" for a long time, lol. This is my second year, and I'm still at the 1-3 footers. Anything over 2-3 feet and you will struggle just getting past the breaks for awhile until you learn to duck dive and turtle roll.
For newbies, it's recommended to start near lifeguard stations, just in case until you get more comfortable.

Exercise: It's certainly strenuous if the waves are decent. Hardest part is learning the popup, watch some videos and practice at home to build the flexibility, core strength, and squats.

Have fun! Of course we all dream of catching that big wave and riding for minutes, but it's still a blast just hanging on the waves and even just riding the foam in.