Yeah absolutely, especially with very simple objects where triangle count isn't an issue. Really there isn't much need to optimize a model lower than 500 tris or so (other than LOD models and models that will be instanced hundreds of times or something). When you're doing more complex assets you won't always have the…
Even things that are square tend to have slightly rounded edges, little in life is really as sharp as a hardened edge in a 3d program would be, and objects generally look a little better if you exaggerate that softness. Now, if you just want to have completely hard edges here, you don't even need to bake a normal map for…