Absolutely! Do it!!! I am a teacher so I will always be pro-education. I do a lot with my kids at home. (They are 4 and 2.5). Both of my kids went to a Mom's Day Out program for about a year or so. While my daughter's room was mostly free play, she did enjoy interacting with the other kids, listening to songs and stories and having snacks. My son loved being in the 2 year old room. He learned valuable listening skills, how to sit quietly in a group, walk in a line and social skills too. He really enjoyed the art projects, stories, free play and gross-motor activities indoor and out.
This year I put both of my kids in preschool and they love it even more. They have music, cook, art, play time and learn certain concepts. It has been such an invaluable experience for both of them. There are just some skills kids can only pick up by being with a group of their peers IMO. Kindergarten has changed so much. Of course a big piece of what kindergarten teachers must teach are social skills, but you would be surprised at how academic it is too. The technology piece alone blows me away! I recently subbed in a kindergarten classroom that had a smartboard, laptops, and 4 ipads. The kids came in and did their entire morning routine on that smartboard from making their lunch choices to calendar work, songs of the week and so forth. They did all of it pretty much on their own as I watched. It was incredible. Prepare your kids as much as you can by sending them to Pre-k. It sounds like your daughter would love it and develop a love of life-long learning.
HTH,
A.