I inherited this beauty. Should I get it serviced?

I inherited this watch a couple of months ago and I’ve been wearing it every day. I love it so much. I don’t have papers or a box for it. It was my dad‘s. I wanted to add it onto my homeowners insurance and I was told I need to get an appraisal. Also, according to my brother, the last time it was serviced was 2015. I looked at the numbers on the back and according to Google, it’s a 1991 model.What should I do? Do I take it to a Rolex store and have them do the appraisal and a service? What should I expect? I love this watch and I want to take care of it.