We always recommend that users upgrade the latest firmware because it's the optimization to the previous one, but that depends on you. If your drone's now performing fine and you don't want to upgrade it, that's alright.
Sometimes it is better to wait before update... when problems appear you will read about it on this forum. I had no problems with all my previous firmware updates.
After you update, can you test to see if the Mavic jerks when you yaw and tilt the camera? The last two updates I had this issue, before this, the movements were smooth as butter.