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Always.
In some cars, if you stop fueling when the pump stops automatically, you'll wind up with a quarter-tank-full -- Porsches come to mind. If the pump's fuel flow rate is close to the tank's max fill rate, the sensor will trip prematurely. And of course, this also depends on the pump's design and settings.
In the BRZ, I can easily add another half gallon by "topping up" gently. That's about 15 more miles of gas station avoidance per tank and the "excess" fuel gets consumed in the next few minutes (SoCal...).
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