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It's up to you, but I don't think that you are missing out on anything valuable by remaining with an older firmware build. There are lots of people who refuse updates to keep their Kindles stable, protect jailbreaks or just don't want to risk losing specific features (which are sometimes depreciated) or gain bugs which sometimes show up in new builds. I for one certainly wouldn't want the headaches associated with newer (5.11+) firmware.
Do a search for "change logs" to give you a general idea of what has been added to newer builds if you wish. Often it's little more than badges on book covers and the like. Since you said that you value how your current configuration works, it would seem wise to not update unless there is some specific feature that you feel you need in a newer firmware build.
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