There are pros and cons to an unencrypted kernels/initrds.
The positives are:
Decrypting will be orders of magnitude faster
You are only decrypting once instead of twice
You can use plymouth to have a more attractive unlock screen
You have access to the initrd during decryption(useful if you need the network for example)
The negatives:
If you want to rollback snapshots, it is a more complicated process because the kernel/initrds are not part of your snapshot
If you have multiple luks partitions, they won’t be automatically unlocked by the initrd
There is a theoretical lowering of security because your initrd is unencrypted. I say theoretical because it seems like a pretty unlikely attack vector.
If you do decide to move to an unencrypted /boot, be sure to remove the keyfile from your initrd. If you don’t, your machine will unlock without asking you for a password which probably isn’t what you want.