Every release, at minimum, tightens security and fixes bugs and well as adds some new features. So there's always a benefit, but what it's worth to you will be specific to your situation.
Every upgrade comes with a cost determined by the number of mods and amount of custom code that needs to be taken account of, the extent to which this overlaps with the changes to the core Zen Cart code, whether key add-ins are compatible with the new version, or new ones are available, or extra programming effort is needed, the attention to detail in the upgrade, and the skills and rate of the person undertaking it.
So the cost is specific to your situation too.
Is it worth upgrading? Well that depends on whether the benefits outweigh the costs, and since we can't know either, I'm afraid that only you can make that call.
One general piece of advice though. Over time the costs of not upgrading tend to rise faster than the cost of going ahead, until it become near to infeasible not to. So even if it's not now, there will be a point at which you will need to.
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(Questions answered in the forum only - so that any forum member can benefit - not by personal message)
