Yes. Yes! A thousand times, YES!
I blind bought it years ago now and enjoyed the ride so much. I had a hard time with the first season, but if you keep chugging along it ends so strongly. There is a lot of laying the goundwork for future storylines that isn't necessarily appreciated on the first viewing, but there is plenty to enjoy along the way.
Season 2 is a huge step up, and properly gets things rolling, before seasons 3 and 4 up the stakes even more. What an adventure.

Season 5 perhaps takes half a season to get going, but by the time it does, it's back to its previous best. The movies then range from amazing to shocking; there are only a couple you may actally need to watch for arc purposes.
The budget wasn't the best, so superficially the show has aged a lot. Underneath all of that though is great characterisation, political intrigue, vast story arcs that are planned well and are interesting, and then there are plenty of heartstopping moments too.
Crusade is only a recommendation if you become a hardcore fan of the show. It's very hit and miss, but it's a shame it was canned when it was, ultimately.