There's a fan-produced documentary called "Deleted Magic" which assembles a variety of the Star Wars deleted scenes, together with outtakes, and puts them in context with bits of the release film. It's a labor of love.
After watching portions of this, I've come to realize that no, I never did see the "deleted scenes." Why? Because they are pretty different from my "memories" of them. These memories are probably conflated from my reading of the novelization, hearing audio versions, and seeing images from the deleted scenes (for example, the Star Wars bubblegum cards had some images that weren't in the actual film release, such as shots of Luke wearing his poncho and shots of Biggs on Tatooine).
Many of the things in the deleted scenes are actually referenced in scenes in the theatrical release: for example, the blue milk shows up on the dinner table, Luke makes reference to Toschi Station and Anchorhead, and also talks about Biggs. I probably conflated the exploding red droid with the one Luke calls "Treadwell" in the unused footage.
What's frustrating is that it has been left up to the fans, who love this work, to preserve the lost footage and put it in context. That should have been Lucas's job. If he had an actual appreciation for what was great about the original Star Wars, it would have been a labor of love for him, something he relished doing. "Deleted Magic" would have made up the bonus disc to the "Nostalgia Release" of Episode IV. Instead we have Lucas redesigning CGI explosions, and then redesigning them again.
I recommend "Deleted Magic," if you can find it. (Hint: Google "star wars deleted magic.") You'll get to see Koo Stark as one of Luke's friends, the voice of David Prowse as Darth Vader, and other amazing bits and pieces!