As someone who has never run into performance problems with R, and also knows how to use Python - is there a good reason to learn Julia?
Whether Julia is that for you right now probably depends a bit on your needs/use cases.
Until Julia gains some form of aot compiler for static binaries - it's not quite an alternative to python imnho - you can't expect to run Julia scripts everywhere you can run python. Though this is similar to R. And there are of course much bigger ecosystems for python and R code/libraries than currently for Julia.
Personally I think they've done a great job on the design/syntax of Julia - it's a fun language - and that might be the best reason to play with it?