Yes, it at least partly depends on the reason you are taking notes. If it's purely to use for studying that's one thing. But if it's for writing a story, a trip report, or for otherwise sharing, there are a lot of reasons to have more of a verbatim record.

Ideally, I suppose I'd have an accurate transcript and I could just take time-stamped notes that could key to that transcript but that's not the reality. (I know I can record audio but, in practice, going back to audio after the fact is just too much work for most purposes.)

Take scribble notes, but then dictate them in with further comment immediately after. Speaking is ~150 wpm