It depends entirely on the shoot.
For most intents and purposes, I shoot at the highest quality JPEG. I don't often need to edit much beyond a bit of contrast for my own personal tastes, and even when I do get the urge to go post-process crazy, I never print large enough to notice any serious detorioration.
In fact, short of portraits, I don't shoot in RAW very often. I used to when I first got my camera...thought it was necessary and, honestly, pretty novel. Eventually I got tired of the mandatory post-processing, especially when it came to shooting sports. In fact, when shooting college baskbetball, I have to unload all of my shots straight from the memory card to the Atheletic Dept. computers, and they don't want to bother with RAW either.
So far I've never had a problem.