Yes, taste your beer at every opportunity!!
If you only ever taste the finished, bottled and conditioned product, you'll never appreciate the changes that the brew undergoes in the brewing process.
For example, the wort is usually very bitter (as well as sweet, of course!) when I transfer it from the boil pot to the primary, but much more mellow and delicious when I rack to secondary...
These sort of things give you ideas etc. on how to improve future recipes/techniques...
Secondary: King Willie Wheatie
Stormy Night Porter
Lobrau Amber Ale (Mk. II)
Rain Dog Ale
Quantum Pale Ale
Maybe a pilsner...
Quantum Pale Ale (Mk. II)