Yes, it's worth using. It's fairly easy to install, as it's almost always packaged, and that makes it easy to use.
But it's not really enough. For example, tools like Lynis usually miss containers.
A modern version of this stuff, I would probably recommend scanning all running containers with something like trivy, and then deploying wazuh on the machines. Wazuh can scan the system for misconfigurations in a similar manner to Lynis, but it is also capable of acting as a central logging server and a few other things.