I do and the answer is always
it depends. I'm not being glib! There are a lot of variables at play that will affect performances.
In general it moves computation closer to the data and in aggregate that generally offsets most increases in query times.
If you design your schemas carefully the performance cost is easy to swallow. As always analyze your queries under different table sizes and see what works for you.
The benefit is that your application code doesn't have to use any complex RBAC->SQL compilation. You can just 'select foo, bar, baz from mytable;` and RLS will take care of making sure your application servers never see the data that the user doesn't have access to.