Comparing 10 pieces to 0, then sure, in general yes.
Other times you'd want to avoid trades to be able to make use of your passed pawn. Easy examples could be made in pretty much every piece vs piece endgame (other than knight vs knight) where 1 extra passed pawn sometimes isn't enough to win.
Knight vs knight (and king + pawn) endgames too, but not as common.
A passed pawn increase in strength as the
number of pieces on the board diminishes.