Exactly. The newest Ledger Nano S firmware is 2.1.0 if I remember correctly. It introduces the needed support and necessities for Taproot. Other than that, it doesn't fix anything urgent or improve the user experience. Unless you want to use Taproot addresses with your Ledger HW, you don't need to perform the upgrade. It also decreases the already very limited internal storage of the device.
Actually, it's not always good to upgrade the ledger firmware from time to time if it's not needed unless you need the additional feature or if it's related to a vulnerability issues you should upgrade it to fix those issues.
Sometimes hardware wallets can be soft bricked after upgrading I heard many times on some people out there happen to them and only a few people fixed their hardware wallet.