Long time fan, new Kai viewer.
I did not watch Kai when it initially aired, rather just recently watched the blu ray releases from Funimation. Kai is definitely my preferred method for subsequent rewatches. Pacing is outstanding, although some scenes do lose a little suspense due to the increased pacing. While I didn't miss most of the filler, I do enjoy the driving test episode. Unlike most I find the Garlic Jr Saga somewhat enjoyable also. Other than that the filler isn't missed. Music is OK, Bruce Falconer's OST would have came in clutch in this for sure.
The initial run of Kai only included up to the end of the Cell Saga, which is a solid conclusion to the series. But watch The Final Chapters also. Enough rambling, if you've seen Dragon Ball Z before, give this a watch. If not.. Honestly watching the OG DBZ or Kai isn't a bad choice.