Sounds good, unless you want to hold on a few months and see if rates drop again. I've seen comments from mortgage brokers who think rates will go down some more.
We did a refi to get rid of PMI back in 2003. I think we only dropped from 6% to 5.375% at the time (30-yr mortgage), but it was still worth it. We did another refi to a 4% 15-year rate back in 2018.
If we keep the current mortgage, we'll have paid it off 18 months later than if we'd kept the original 30-yr mortgage, but we saved a lot by refinancing.