Easy answer is "sometimes"
As I sometimes ride in normal shoes, sometimes SPD, sometimes SPD -SL, sometimes I am on a hybrid, sometimes a roadbike, sometimes gravel bike, sometimes a MTB (the MTB is either hardtail or FS), sometimes I wear a helmet, sometimes I don't. Sometimes I carry 2 water bottles, sometimes 1, Sometimes I air up my tires, other times I air them down. Sometimes I wear gloves sometimes I don't, Sometimes I go hard, Sometimes I ride leisurely.
Sometimes clipless is more efficient, and sometimes it isn't, I once rode 60 miles on a hybrid in running shoes on flat pedals, I'll NEVER do that again, not on purpose anyways!