Pre the DLC, I would make sure I did the daily in an attempt to get Ascendent Material to level up my armor and weapons. Post DLC there's really no point to do the daily missions especially if your weapons are already maxed out and you have the new Raid Armor. I haven't done a daily in a while and the only time I do is when one of my friends is doing it, but I just usually join for the conversation
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I usually do them, good way to level up guns an getting the 9000 XP bounty fast. And a chance for some legendary engrams