Normally I do. I start it boiling while sanitizing everything else, give it 5-10 minutes, and then chill.
The one thing that hasn't been brought up is chemical inversion when using sucrose (table sugar, brown sugar, turbinado sugar, etc). While it happens far more slowly under just heat as opposed to heat AND acid as inversion is normally done, the boiling process should partially break down sucrose (a disaccharide) into smaller monosaccharides (glucose and fructose, IIRC), which are more easily taken up by yeast. I'm sure the impact is essentially negligible, but something to be aware of. Although dextrose (corn sugar) I believe is in itself a monosaccharide.
In any event, the one time where I don't bother boiling the sugar is when I rack into pins for cask, because I normally use smaller polypins, and it's easiest to just directly add the amount of sugar by weight that I need to the pin along with my isinglass finings, and then rack on top of it. While there's definitely a contamination risk in doing so, I haven't noticed one, and the beer is always gone faster than one could present anyway (usually within a few days of being carbonated).