It's a love-hate relationship. When I used to do scripts, I remember spending a couple of hours on it because I was genuinely interested in the topic I was talking about; however, when there aren't ideas it's very difficult to write a script, and it feels time consuming.
I do recommend trying to do videos without a script. It can lead into a skill that some people don't have; how to speak eloquently and efficiently (i.e. stuttering, saying "like", using better vocabulary, sounding confident...).
Oh, and bullet points aren't bad either (just to have some structure).