If you can, you usually go for a better rear mech, lighter and maybe stiffer, improving gear change.
I've ridden my Ultegra and DA for 25 years. Some nice touches on the DA gear that I had, like grease ports on the hubs, and ceramic bushes on the rear jockey's - just that bit smoother. The finish is usually higher on the better mechs.
As for changing a mech, I wouldn't bother unless it was worn out/damaged, then the upgrade cost isn't too bad. On a high mileage bike, things like chain rings and cassetes could cost you a fortune. A DA cassette isn't any better than a 105 cassette, other than it's lighter. Then again, if you get a SRAM cassette, that's even lighter than Shimano and works.