I was fortunate enough to get to the facility in January this year on a business trip to California. My work partner and I were out there to meet with Northrup Grumman for a couple of days but spent the week out there and visited other customers. One of the customers has built the arm for the 2020 Mars Rover (sorry, I promised I wouldn't share the photo of the back-up arm) and another was SpaceX. Some of our gears are on the Dragon capsules, both cargo and manned, and there is some interest in other applications. We got a great tour including some areas that may not be on a normal tour (we were shown the capsule building and simulation areas). Of course, no photos are allowed. The photo below was taken on their property (the armed security guard told me of my transgression right after I took it but you can get the same view a few feet further back on the public sidewalk). There are a few things outside their fence, a Boring Company demonstration site and a Hyperloop tube, but they really aren't much to see.
There is a nice restaurant between the headquarters and the Hawthorne airport. If you hit it midday, you might find a "friend" who could get you inside.
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My wife and I were in the area once and decided to go see the landed booster. It's tall enough, you can see it from a long way off, so we got pretty excited and weren't necessarily paying great attention as we approached the property. We pulled right into the parking lot and parked right next to the booster! I mean RIGHT NEXT TO IT. See the person walking into the building in the picture? We were in the parking spots between that person and the rocket. I hopped out of the car and immediately started taking pictures. About 10 seconds later, I heard a very loud and authoritative voice behind me say, "SIR! YOU ARE TRESPASSING ON PRIVATE PROPERTY! STOP TAKING PICTURES IMMEDIATELY!"
I turned around to see an armed guard who looked like a huge Marine walking my way with a very serious expression on his face.
"Uh... sorry. We just wanted to see the rocket..."
"Sir, you cannot just drive onto this private property and take pictures of the rocket. You drove right past me."
Honestly, we never saw the guy at all, and I really don't think he was standing guard when we pulled in, but obviously I wasn't going to argue the point.
We apologized, and things deescalated immediately, and he asked to watch me delete all the photos on my phone. And then after deleting them, he asked me to go into my deleted photos, and he watched me delete them permanently from there.
Then he told me to leave the property and take any pictures I wanted from the sidewalk or street. We parked on the next block and walked back. The rocket is on the SpaceX property right on the corner of an intersection, and there is a glass barrier between the rocket and the sidewalk, but you still can get a very closeup view from maybe 15 feet away or so.
I think it is worth seeing but I would not go too far out of my way for it or schedule much time. My understanding is it is almost impossible to get a tour. You need to have business there. On the same trip, we went to see the shuttle at the science center which was pretty cool.