the short answer is yes, it’s much better to have balanced output.
the long answer…sometimes / maybe.
read this:
a well executed single ended output found in the higher priced amps will be as good as balanced output in a lower priced amp. the se in the lower priced amp usually suffers as they usually take shortcuts to create it.
by higher priced amp, I don’t mean units that are $1000. there are some really good one’s at the $200 price point, like the Schiit Asgard 3.
balanced output provides more power which is what a well done singled ended output will also provide.
the hangup is that headphones with attached cables are usually se and cannot be used on a balanced output. doing so will likely ruin your amp due to the different wiring structure. headphones with detachable cables can usually have a a balanced cable connected and headphones with attached cables can usually be modified to be detachable, in which case, you can likely use a balanced cable as well. that’s why you will find the 2.5mm, 4.44mm pentacon and XLR / mini-XLR are almost always balanced while the 3.5mm and 6.5mm connectors are always se.