If you want to ensure the utmost resolution that a camera /sensor / lens system can provide – yes.
If the subject matter and situation allows, then using a prime rather than a zoom, a solid tripod rather than hand held, mirror lock-up, or self timer, no wind, etc are all the ingredients necessary for the highest quality images.
If you can't do all of the above then don't. Do what you can.
I shoot hand-held with zooms all the time because getting the shot is what's ultimately the most important thing.