Opinions differ. This is mine.
I love the nearly 5" of front and rear suspension on my mountain bike for riding fast over roots, rocks, ruts and dropoffs, but for riding on gravel or dirt roads, I find any suspension beyond the cushioning of slightly larger tires and maybe a sprung saddle to be more of a hindrance than a help. It adds weight to the bike and the bouncing makes pedaling less efficient and steering less precise. The suspension forks I see on comfort bikes seem especially heavy and bouncy. Better to learn to absorb the small bumps by "floating" an unsuspended bike over them with the help of elbows and knees and lifting the butt off the saddle.