If you do, don’t jump in. Slowly dip your toe in the pool and see if it’s for you.
Almost every legends fan will tell newcomers to start with Heir to the Empire, and while that’s not a bad place to start, I would personally recommend starting with a standalone story such as Kenobi. It’s a well-written book, gives you a glimpse of how authors expand on the mythos in the movies, and acts as a nice companion piece to ROTS.
In my opinion, the Legends Post-ATOTC to ANH (basically the Clone Wars through the Dark Times era) have the consistently best, most coherent stories, whereas post-ROTJ is a mixed bag of some truly phenomenal works (Luke Skywalker and the Shadows of Mindor) and some long, frustrating deviations from what Star Wars is intended to be (New Jedi Order series).
But you know yourself better than I do. You may want to start in the post-ROTJ era if you really dislike it in Canon, as many Sequel trilogy detractors insist this pretty saturated era in legends storytelling is superior to Canon in almost every way.