One issue with shooting uncropped is that the composition will most likely take advantage of the aspect ratio you are using and not necessarily crop well. Composing the shot in the aspect ratio that you intend to display it is actually a better technique unless you are very skilled and able to imagine how you’re going to crop it in the future.
If you get the tour it's pretty quick, like 30 minutes. If you ask a lot of questions, like me, then maybe 45. There is also a self guided section which I think has rotating exhibits. It was a firefighting exhibit when I was there two years ago.