Yes.
I will always recommend a script or at least some type of detailed outlining. Unless you're an amazing memorizer, it helps to write down everything that comes to mind to shape the story.
My scripts are color-coded because I plan my work in narrative form (I don't script panel to panel). Hence, it helps me to seperate character motives, dialogue, amd actions. That, and when I leave and come back to it after a period of time, I remember what I was trying to do for the story.
That's the biggest take away -- understanding what you're trying to so.