Yes, I believe that in specific situations might be a good option, as said by other members, specially if you're playing agains't the same players for a few hours because limping might mix your range perception (or polarizes your hand).
Picture this: We are on the BB. The villan limps in BTN. SB folds. We raise to 4.5bb (doesn't really matter what hand we have here). Villan on the BTN 3-bets to 12bb. The villan must be super super strong right? That's usually what I would feel in that spot. Limping and then 3-betting is very sus, so as you can see this is a possible line that you can use in some situations (specially if your playing agains't this opponent for a few hours as said above)
A similar situation is when you're in SB and you only call instead of opening 2-3bb. It brings opportunities to trap your opponent, so basically, yes, limping from time to time is another tool you can have. Poker it's all about this, there are no strict rules to follow, every situation is different due to many factors involved (number of players, stack-size, opponent's style, level of blinds,regular-pko,etc..).
Knowing the fundamentals you can bend them to your will.