Absolutely. Legumes are the healthiest sources of protein. While it takes a week or two for the gut to adjust (and be the butt of gas jokes), it extends your healthy lifespan, so it's worth it.
Here is what a non-profit that I follow has to say:
In practice it really makes a big different, to eat 100 grams of chicken for dinner, compared to 200 grams of lentils. Most people that eat plant based compensate with eating more fat to get the satiety per gram of food higher, which leads to an unhealthy diet.
It would be much simpler if plants had complete protein in the same amount as animal protein sources, but it's way off.
Further, there are actually "complete" vegetarian protein sources. Namely soy beans.
Our bodies can't manufacture nine of those amino acids, we have to ingest them, and also in the appropriate amounts.
Eggs have all 9 essential amino acids and also in almost exactly the proportions we need them in, making eggs a fantastic source of protein.
In general, legumes and grains individually are not complete proteins, but are when the two are combined.
Hence rice and lentil dahl, or baked beans on toast. The combination makes complete protein.
Too bad they come in a package with cholesterol and choline.
https://nutritionfacts.org/topics/eggs/
I'd rather eat beans and whole bread.
https://nutritionfacts.org/video/the-protein-combining-myth/
https://nutritionfacts.org/video/the-protein-combining-myth/