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Yes! If your television supports it, support it! Because PS2 images look worse on HDTV. Upscaling helps alot.

I only have FFX as a PS2 game and I dunno maybe it's the lack of emotion engine but the frames don't match my tv, I mean some pixels are out of screen. Also upscaling DVD's is worth it. Dunno if it's my tv but upscaling seems to add a lot of ghosting effects. But I still prefer the upscaled images over the normal once anytime.