Always! When new updates are announced, companies also publish the list of security bugs/fixes included in the update. This allows hackers/attackers to use those specific bugs/exploits to take control of your device or install a remote app or keylogger.
We do understand that there are some concerns regarding the new features included by both Apple and Google with their recent updates, as they are not at all privacy-friendly, but the advantages outweigh the disadvantages.
Also remember the first recommendations: cover your cameras, use a VPN, keep your home dumb and most important familiarise yourself with the privacy settings in your phone and be proactive when granting permissions to the apps you install, remove what’s not needed.