iPad Pro

Absolutely yes.

iOS/iPadOS 16.4.1 includes essential System Security Updates - that address known vulnerabilities and exploits.

Technical details of the patched vulnerabilities can be found here:

About the security content of iOS 16.4.1 and iPadOS 16.4.1 - Apple Support

Assuming that you are not a Cyber Security Professional, perhaps suffice to say that this update is essential if you value the security of your data and your device(s).

Yes you should.

(Unless you don’t want to patch “bugs” and plug security vulnerabilities)