I think that best practice is to do these checks only if they're going to fail some day. If will help when you do the following.
Debugging
There's no point to check them when several private functions in one module, which has a single maintainer, exchange data. Of course, there are exceptions, especially if your language doesn't have a static type system, or your data are "stringly typed".
However, if you expose public API, one day, someone will fail your precondition. The further is the person that maintains the calling module from you (in organizational structure and in physical location), the more likely it will happen. And when it happens, a clear statement of precondition failure, with a specification where it happened, may save hours of debugging. The Law of Leaky Abstractions is still true...
QA
Precondition failure helps QA to debug their tests. If a unit-test for a module causes the module to yield precondition failure, it means that the test is incorrect, not your code. (Or, that your precondition check is incorrect, but that's less likely).
If one of the means to perform QA is static analysis, then precondition checks, if they have a specific notation (for example, only these checks use assert_precondition
macro), will also help. In static analysis it's very important to distinguish incorrect input and source code errors.
Documentation
If you don't have much time to create documentation, you may make your code aid the text that accompanies it. Clear and visible precondition checks, which are perceived separate from the rest of the implementation, "document" possible inputs to some extent. (Another way to document your code this way is writing unit tests).