The real answer is "it depends".
It depends on what the fixes are in the versions between what's currently loaded on your hardware and what is actually the latest available version. Sometimes companies suck and don't provide a change log so you can't determine that. But if they do, it's always good to read them over and analyze their contents. Sometimes the updates can be to support new products, or to fix/change functionality on a different product. But often they can fix real bugs. Sometimes these are bugs that may not be apparent to the user. Sometimes they are, or are changes to existing functionality based on previous user feedback. If you're lucky, there are changes which add new and useful functionality.
A lot of people here will tell you "Only upgrade if you have a problem!" or "If it ain't broke don't fix it" and their captive audience will sagely nod in return. But as a new user, you might not know that you have a problem because you lack prior experience to compare, or the problem isn't noticed by anyone but those with the most critical eye. For all you know, the people giving this advice are also the types who forward those virus warning chain emails, so really what good is their technical assessment? You could have a mount with a firmware bug that drives your scope into the pier when you're in the southern hemisphere, it's 4am UTC, you just completed a slew at 600x speed within the prior 20 seconds, and it's raining in Nairobi on a Tuesday and you wouldn't know it unless you hit those exact parameters. Wonky bugs like that exist. Firmware updates exist to fix them.
In light of that, I urge people to become informed about what the upgrade entails, to study the changes and to make an educated assessment themselves. You learn a little about the hardware (or software, as the case may be) on hand, and if you are unsure, you can usually contact the vendor to have them clarify things for you. And always follow the maker's instructions regarding blasting new firmware onto a device. Some make it foolproof, but others demand care. It depends. But mindlessly running away from an update is not a good answer. Like many allegories in life, that's just being scared of what you refuse to see.