Falkirk Wheel and Stirling excursion

It will be fully detailed on the Holland America website. It will take you back to the ship but the detail on the excursion will tell you whether there is an option for set down in central Edinburgh.
Big ships can't dock at Leith, so "Edinburgh" will usually mean a tender call at South Queensferry (you are taken ashore from the anchored ship in the lifeboats) or at Newhaven or an alongside call at Rosyth.
South Queensferry and Newhaven are easily accessible independently to Edinburgh.
I would expect HA to also run a shuttle bus which they likely won't mention until the previous night.
Rosyth is on the opposite, North bank of the river.
You can't walk into Rosyth port. It is only by taxi, or shuttle bus. So if you got dropped off the tour in the City you would need to know where the ships shuttle bus was running from, and doubtless have to pay for it.
Which ship and date.? I'm looking at the schedules now and it looks as if all HA calls this year are tenders at South Queensferry.

The second part of your question is, that in the day you couldn't possibly do the two attractions independently, especially as it's a tender port, so from that perspective and if it's basically costing you nothing it's very well worth doing.

HI
It is tendered South Queensferry according to the itinerary. The shore excursion just says time spent to walk around Stirling. Does not indicate where it drops you off. The cruise is the 21 day cruise in July leaving Amsterdam on July 22nd.
Is the trip worth seeing and or doing?
Thanks

Our ship does not leave until 1 am. The excursion looks like we would return about 4pm. We should still be able to walk on our own down the Royal Mile upon return I would guess.

Yes, I'm looking at it now. In my experience if a cruise ship excursion doesn't mention something it isn't happening, so it'll be going straight back to the ship.
The Falkirk wheel is a unique modern engineering marvel, absolutely worth doing. And Stirling Castle is one of Scotland's great castles. Amazing that a $99 excursion doesn't include entry to the Castle- another £18.
The problem with that is you are ideally meant to book the Castle in advance. Being high Summer you may not get entry otherwise, and HAL won't tell you what time you are getting there, so you can't book ahead. That's crafty.
Stirling itself is just worth the wander around, as a City.
I'm just looking at the excursions- personally I would choose the Trossachs one (that really is a wonderfully scenic drive) or Floors Castle and Dryburgh Abbey- that is a very good opportunity to tour the Scottish Borders and is one that would be a bit tricky to put together yourself.
Both are chances to do something a bit different.
If you came back to Scotland independently you could easily organise the Wheel and Stirling- with pre booked admission to both.
There will be loads of time afterwards, even after Dinner, to go up into the City. I'd take an early dinner then go into the City.

HI,
Thanks for the suggestions. I do not see the Floors Castle and Dryburgh Abbey as a choice for me to book however. Like that we can get back into the city after dinner. :)

I can't tell you about the cruise details since we've not done a cruise...

I can tell you that while we prepurchased tickets for Sterling Castle for late July last year, it didn't seem necessary. Walkups had no problem buying them and getting in. That said I default to those on the forum who are adamant that you buy your tickets in advance since we only have been to Sterling once. (If you're not inclined to have the ship pack you a meal, the castle's fare is reasonable, too.)

As important, though, we attended a docent-guided tour at the castle. It was fabulous. Absolutely terrific. I highly recommend relying on the castle's guides for a VERY informative tour. In fact it was the best tour of our month in Scotland.

Also, while we didn't see the wheel, we did visit the Kelpies. It was part of our tour for that day. Candidly, I was ambivalent about the stop -- before we made it. If you're the least bit interested in engineering or art or both, the Kelpies will be a memorable part of your Scotland stop... We thoroughly enjoyed our time there.