Should I be using URP as a default?

Correct, “3D” is the built in or legacy pipeline.

The biggest reason not to go URP is 3rd party asset support. That entirely depends on what 3rd party assets, if any, you plan on using and if they already have URP versions available.

Another good reason is if the built in renderer has a feature which the URP does not, and you otherwise don’t want to go HDRP. Here’s a good feature comparison:
https://docs.unity3d.com/Packages/com.unity.render-pipelines.universal@10.2/manual/universalrp-builtin-feature-comparison.html

Personally I still use the built in for all my projects, even new ones, because I pretty much always end up with a large number of real time point lights. So one of the first things I do in a new project is switch to deferred rendering because of how it handles point lights.

But I haven’t done any mobile projects since Unity 5.x, and I see that URP supposedly will get deferred rendering soon even though when URP was called the LWRP they specifically said it would only support forward rendering. So maybe I’ll end up moving over to it before the built in renderer gets officially deprecated and put on the chopping block.
URP deferred

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