I'd honestly suggest trying both. Like, try doing a bare minimum of pencilling and then adding the details and making the decisions in inks, and then trying doing really tight pencils and inking more loosely, and seeing what works for you.
I have friends who can work with very loose pencils and it speeds up their process, but for me, if I draw my pencils that loose, then inking takes me twice as long and looks way worse, so what works for my friend wouldn't necessarily also work for me.
When you try both, you might look at the results and discover that one of them is really not up to your standards, or you might find that rushing one thing only makes the other thing take a lot longer. Or you might find that you can't actually work any faster than you already are for one of those steps. That's up to the individual, though, and what works best for you!