Some people would say yes, some no. Nitrogen will only work 100% if it's filled in the tyre in a vacuum. If not then it's not 100% pure and will be mixed with air.
It's not something we test with or indeed advise you use. For general road riding it doesn't really make much of a difference.
From personal experience I used it when I was manager of a racing service for a large Italian tyre manufacturer but we only ever used it at one circuit in the UK, the other circuits didn't need it. So, if it's not needed during the extremes of use then it's probably not needed for normal use either.
The benefit you will get is that the pressures will not drop as quickly so one will not need to check ones pressure as often, but if you do need to top them up, then you will either need a Nitrogen bottle at home or you will need to keep visiting your dealer, and usually there is a cost for the service.