Sometimes.
Pick (plectrum) : alternating up and down strokes. Sometimes the cross to another string, eg: from D to B will feel awkward. That then is the thing to practice. Also, reversing the direction of the cross is useful. Try the same thing beginning on an upstroke instead of a down; that is very useful practice.
Finger picking (With or without a thumbpick) : A great deal more to think about of course. When I was younger I would practice different picks. Now I don’t need to. I will create the feel of pick I want intuitively and if any part of it is awkward, I will pay special attention to it by slowing it down, considering variations etc. until I am happy with what I am going for. Then its back to plain old repetitive practice. When it can be played naturally (ie- without body tension or mental tension) then its good enough.