Voted for “Yes, but casually; pull the covers up and arrange the pillows” but only because it’s winter. My wife has an electric blanket and if the bed isn’t made the bed won’t pre-heat properly. Spring, summer and fall the answer would be no.
Pretty much just grab the edge of the sheet and blanket, give it a toss to get it mostly in the right position, then put the pillow back. I never tuck anything in because I’d just yank it out when I went to bed anyway and that makes no damned sense.
No option for people who do not have a bed? I sleep on a floor mat!
Only when i change the sheets… Or if my mother’s visiting. I’d rather spend a few extra minutes on a pointless task than deal with hours of her high-pitched nagging.