Hi Chris
I visited the Azores last September with a different company.  Our included whale watching tour was on a proper boat rather than the zodiac.  However, the sea was rough, the speed the boat took to get to the whales was fast and quite a few were ill, including a lady who was flung around the boat and possibly broke her nose.  Added to that, we didn't really see many whales compared to what I have since seen in Iceland.  The trip was probably a couple of hours  and we were back on land for lunch.  I was one  of the unfortunate ill people and it spoilt the rest of the day for me.  If I had paid for it and got this result, I would have been very disappointed.  So, whether you think it's worth it, only you can decide.
Regards
Sylvia