As with many other design/usability questions, the answer depends on the context.
All things being equal, I'd argue that allowing the user to jump back/forward is a useful feature. It allows for what Nielsen/Norman, in their list of usability heuristics, would call User Control and Freedom: https://www.nngroup.com/articles/ten-usability-heuristics/
But I would urge you to test your designs before making a decision. This feature may be costly to implement, and the benefits may be limited.
For example, I once created a prototype for a multi-page insurance form. On each page, I had buttons that allowed the user to go back/forward at every step, as well as a clickable progress indicator, that allowed users to jump to any step.
In my usability tests, users ignored the back buttons, and the clickable progress bar. They wanted to fill out the form in the way it was presented, one page at a time. They tended not to want to go back, or to skip ahead.
But your own design / tests may uncover something different.