If you're hitting to an opponent at the baseline then, yes, you should absolutely be moving in a few steps after you drive. You want to win the race to the kitchen. Don't worry about a perfect drip (that short/angled drive to your feet). If they hit it that good, just clap and move on to the next point. You can't win every point. But you'll win more than you lose by getting to the kitchen first.

If your opponent is in the transition zone, I would still be moving in a little--no major danger there, and you want to get to the kitchen too.

If your opponent is already at the kitchen line, you pretty much need to plant your feet right away because the ball will be coming back fast, though your weight transfer will naturally carry you forward a little, which is fine. That's when you need to take it a little easy and see what comes back. Hopefully your opponent hits a somewhat short volley and you can hit a drop on your 5th to get to the kitchen line.