Is it good practice to add redirect for www and http addresses?

I run a few sites and some of them are set up like: https://www.domain.com/. However, if I just type into my address bar domain.com and hit enter, it takes longer for my site to load than if I type out the full, official address.

Should I set up a 301 redirect for the domain.com or the https://domain.com to go directly to the official address, “https://www.domain.com/”?

Thank you!