The level of trickiness/subtlety of the problems you encounter can determine how much benefit you'll see from TLA+, although I believe people often underestimate it (in a way, all bugs are a result of programmers underestimating the complexity of a problem).
TLA+ is relatively easy to learn compared to a new programming language, and you can become reasonably proficient in it in two weeks of self study. The biggest difficulty is unlearning some habits from programming and internalising that while writing a mathematical specification shares some superficial similarities to programming the activities are different in most ways (and fun in very different ways).