Yes, it's worth it, if only for the potential employer match on your 401K. That is a rate of return that far exceeds any interest you might pay (dollar for dollar), so at the very least, contribute enough to get the maximum employer match possible (if you can). It's even more worth it when you consider the tax savings if you contribute pre-tax to a 401K or IRA. The United States also has rather inflexible yearly contribution limits, so it's not like you can prioritize debt one year and catch up on tax advantaged retirement accounts later.
Your debt, even the debt at 6.75%, costs less to service, dollar for dollar, than the employer match and tax savings you would expect to receive on your retirement contributions, so do not skimp on that. If you factor in (non-guaranteed) historical 8-10% rates of return in the market, the debt becomes a lower priority still.
Just to provide some simple numbers to aid in my thought process, let's assume you have $5000 in debt at 7%. Let's say your employer matches 60% of your own contributions, up to a maximum match of $3000 (makes the math simple, you have to contribute $5000 to get their maximum, but some employers will match differently and with no caps). Let's hold your top marginal tax rate at 15%, which is low on the tax scale. Additionally, let's hold the market rate of return at 9%. Finally, let's say you have $5000 you can either contribute to your 401K or pay down your debt. What do the numbers suggest?
Well, if you leave $5000 at 7% interest, and ignoring your own payments, it will accumulate $350 in interest in a year.
If you contribute the $5000 to your 401K, your employer is going to kick in $3000. The market is going to produce $225* on your investment and $135* on your employer match this year (*I'm taking 9% of $5000 and $3000, respectively, and dividing it by 2, since I'll stipulate that your contributes take place over the course of the entire year, not all up front. If all up front, it would be $450 and $270 in earnings.) Your tax savings (if contributing pre-tax) will be $750 for this year, and it would be more if you were actually in a higher tax bracket.
Add it up. On one hand, you have $350 in interest. On the other, you have $4110 in matches, earnings, and tax savings. Which would you rather do? Pay off the debt, or invest in your 401K? Take away everything but the tax savings (which assumes no employer match and a flat year in the market) and it still favors the 401K when you contribute pre-tax.
All that said, do what feels comfortable to you.
Thank you for the super detailed response, I really appreciate it! I'm going to have to wait until December to enroll in the plan anyway as I haven't been with the company long enough yet, so I'll work on the debt until then, and then I should hopefully be able to tackle both at the same time (our cost of living is fairly low right now and I'm being very careful with discretionary spending).
Again, appreciate the advice!