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I wouldn't call it common practice, but its not rare. If the crimp is done correctly (assuming it's a insulated crimp), you shouldn't need to. But, there isn't anything wrong with doing it, especially if for some reason the crimp leaves metal exposed. It sure looks better then tape. If it's an exposed crimp, then heat shrink is mandatory (tape falls off, and just looks ugly).
I'll usually only heatshrink crimps that may get moved a lot or are exposed (like motor leads). It helps stiffen the wire a little and covers the more heat sensitive insulation. For the other hundred crimps on the bot, I don't see it as necessary.
If you don't mind using up your heat shrink, then more power to you, but 5 inches is way excessive.
-Andy A.
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