Yes, it is worth using lifecycle nodes. Certain things though where component nodes might be better suited, those should take priority for the time being. Currently the launch system and components don't play well with lifecycle nodes so its a "one or the other" for the time being. Hopefully that will change soon.
Things like image_pipeline, for instance, we want to use components for the 0-copy low latency aspects of loading multiple nodes into the same process. This is especially important for image and pointcloud processing pipelines because we have large data flying around whose transport would be non-trivial.
But if components aren't as critical, like when passing around typical or smaller messages, then I would recommend lifecycle so that you can control the bringup and shutdown of your system in ways you never could in ROS1. Lifecycle will eventually get full support because it kind of has to and all the major projects like Navigation2 and Moveit2 either have all of their servers as lifecycle nodes now (or have it in their roadmap to complete very shortly).
I would not recommend using, in any situation, the standard node. There's so much benefit to be gained from either a component or lifecycle node, you should make use of at least one or the other since you have access to them.
