YES ALWAYS!
A walk around the car in , notes on previous damage, note on oil level and last mileage at check in are very important. People come in way past due on oil change with no oil seen on the stick and signs of leaks. We tell them and note it on invoice. THEN TWO WEEKS LATER the customer calls to complain about oil leak, no oil on stick ,noises, etc like it was our fault.
I even remind them to check fluid levels, tire air and exterior light function every other fuel stop. If that is a hassle we do it for them while they wait for free.