For me, yes. Though it can get tedious if you are focusing on completely a questline without doing other stuff in between. Civil War for example, so much backtracking... ugh.
Despite being very against using fast travel in my games I have to admit I'm guilty for using it a couple of times last week for the same reason. I did that, and Thieves guild extra jobs after the civil war. Being sent from Riften to Whiterun for the 20th time annoyed the living crap out of me so I just started teleporting back and forth.

But to aswer the OP yes, it's very enjoyable if you're into RPing, there's nothing more awesome than packing up some supplies and traveling from Windhelm to Markarth. It will most probably end up in you visiting a couple of caves and tombs on the way, doing a quest or 3 and before you know it you'll be 3 real life days into the trip and probably some 5-10+ levels as well, depending on how many hours per day you played.