I took the Imperial Palace tour in Kyoto many years ago, and it was disappointing. Even though no one form the imperial family was in residence, we were not allowed inside any of the buildings. Instead, the guide just walked us through the grounds and pointed out the various buildings.

The souvenir booklet sold at the entrance was actually more interesting than the tour, because it showed the interiors.

Unless they have changed the tour in subsequent years, I wouldn't bother.