Yes, booking a tour is the only way to go in currently. I wouldn't risk going in without permission, the property is watched over by neighbors and the caretakers pretty much 24/7. Also, without guidance, the state of decay in there makes wandering alone a dangerous prospect. Wait for a tour date to pop up though, definitely worth it! Haunted Nights LLC is who runs the tours and acts as the caretakers. They advertise pretty well on Facebook about their events at the Homestead, and elsewhere.
Considering that it is private property, you'd have to book a tour online. I believe it's 35 bucks a person and the tours are essentially a 2 hour 10 person group tour that is basically self guided. You get access to all 3 floors. Anything beyond that would have to be arranged with the caretaker/owner but I can't speak for them.
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