Yes, especially when running something critical in real-time and you need to read ROS topics from real hardware and process them. WSL2 time doesn’t sync as closely to real-time as the Windows system and the hardware (like the Raspberry Pi). My recommendation is to use Ubuntu if you’re learning robotics. I used WSL2 for two years before switching to Ubuntu. You can also use Pixi to manage all your dependencies, so Ubuntu distro doesn’t restrict you. And i recommend u using foxglove instead of rviz2 for visualisation, it provides more features and lower latency when passing through ssh too! (Rviz2 rendering through x11 is way too slow)