In 2015, I was able to get to Cape Canaveral and watch a liftoff of one of the satellites. I had read and seen television of the launches, but the reality of the rocket taking off, the sound of the engines and the trail of smoke was more than I had ever thought.
What an incredible thing to see.
Best place to watch, go to Jetty Park south side of port Canaveral, pay the 5.00 to park, go out on the pier, look NNW across the entrance to port.