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If you are dissatisfied with the sharpness of your photographs and suspect focussing errors, then yes. If all seems good to you then you do not need to. It has been my experience that my tele lenses benefitted from AFMA adjustments. It is not hard, there are several methods to do the adjustment, including some easy trial and error ways. For example, set the lens to its widest aperture, take some shots at the distance you most often use, look at the results at 100% to see if the shot is front, spot on, or back focussed. move the AFMA as described in the camera manual and try again.