I don't see the logic in this - RAW needs to be processed (and then saved into, usually jpeg); jpeg out-of-the -camera is raw data processed by the camera. You can't compare raw side by side with jpeg. You must process raw before you can compare it with jpeg - which is a processed raw!
If you compare your processed raw with the camera's processed raw (jpeg) then you are not comparing formats but you are comparing your PP with the camera's PP. Sometimes the camera will do a PP that you can live with - sometimes not. With camera jpeg, you can tweak the PP that the camera does before the shot is taken only, but with a raw file you can tweak the PP on the big screen of the computer after the shot is taken.
The decision isn't whether you prefer the 'raw image' to the 'jpeg', but whether your camera is producing jpegs that you are happy with - to the extent that you can forego the opportunity to re-work the PP. That desicion might not be one of PP quality only - for example, if you have a deadline to hit, then time taken to PP might determine that you must forego the opportunity to re-work the PP.
Edit: I use RAW + Large JPEG 'fine'.