There might be a slight benefit to taping them up. Cleanliness is next to godliness…
Tape is a matter of comfort. I prefer very thin lizard skin tape, 1.8mm I think, on the aero extensions. I prefer Zipp bull horn grip tape for the brakes. It is slightly more comfortable than skateboard grip tape.
Electrical tape the cables in strategic spots and use lizard skin sparingly.
I just use electrical tape… cheap, flexible/elastic so it doesn’t bunch up in tighter curves, and that lovely ghetto look that says you’re too fast to worry about cushioning and color (or at least that’s what I try to tell myself).
More seriously, the ‘ribbing’ gives a nice positive grip when it’s wet and I don’t like a real fat, squishy grip anyway. Also relatively easy to wipe off and doesn’t absorb gunk, and if a section somehow were to crap out, it’s plenty easy to just graft over a new section and not even be able to tell.