I know that according to code and according to (most) manufacturer
instructions there is no need to wrap the terminals of switches or
outlets with electrical tape or to reinforce wiring nuts with tape.

On the other hand, if you have the time, is it still a good idea from
a safety and belt-and-suspenders perspective to apply a layer of tape?

[It seems to me that adding tape to outlets/switches just minimizes the
risk that the terminals will rub up against something metal (or skin)
while taping over wiring nuts just decreases the risk that they will
pull off if you get to agressive in pushing or pulling the wires into
the box.]