Definitely, a bit of hand-held camera motion can do wonders for realism, in the same way that an ultra-smooth camera can add an unreal feeling to a real scene. And modern 3D software suites often include excellent features for realistic camera motion:

https://www.youtube.com/watch?v=EyoY4_iGFcM

https://www.youtube.com/watch?v=UNmmkqtiw-A