Hi, Trenton. The answer is going to depend on your ultimate goals. What style of harp music do you want to learn? Do you want to perform, play in a group, or is it more for personal enjoyment? Do you want to arrange your own music?
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You have a real advantage in your ability to memorize easily. (Some of us are quite jealous. 😅) There is a whole aural tradition on the harp, especially for Celtic and folk music. If you choose to learn harp by ear, that is perfectly valid. But don’t choose it simply because you are rusty on reading the notes. There are apps that will help you brush up your skills. One free set of tools is explained here: https://www.learningtheharp.com/forums/discussion/free-tools-to-learn-to-read-sheet-music/ . Since you’ve read music previously, it will probably only take you a week to refresh your memory, and then you will have the ability to read sheet music for the rest of your harp career.
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For my own goals on harp, I would find it very limiting not to be able to read sheet music. It opens a whole world of possibilities for whatever style of music you want to play, including writing your own arrangements.
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Free tools to learn to read sheet music