Yes, absolutely. The total sideways velocity required is fixed, going on a steeper trajectory requires more fuel for the same target orbit. The reason Falcon 9

Yes, absolutely. The total sideways velocity required is fixed, going on a steeper trajectory requires more fuel for the same target orbit. The reason Falcon 9 still does that sometimes is that a more vertical trajectory makes the return flight back to the launchpad easier. So if the payload is light enough that there is enough free delta-v, they want to do that. If there isn't, they land on the barge or fly expendable.