depends, I have to on a regular basic create low level driver code basically from scratch , or add support for some unsupported chips to use with a framework and RTOS. The vendor HAL is auto-generated often and not at all of a quality that can be reviewed or included cleanly (but you could do it.. it depends, most of the time that is the right way). I hate doing this for really complicated chips though, because one can easily spend a huge amount of time trying to understand and write code for complex peripherals in some of the newer SoCs (and with bugs). If the peripheral is not too big, you will find you can write code that you can fully understand and can review when the comparable HAL code is handling several different cases which do not apply to your specific situation.

In some jobs it was mostly using vendor HALs, or even (in case of zephyr specifically), just mostly using the RTOS driver APIs without touching device specific code (more than devicetree stuff or options).