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Depends on your preference.
I take darks after I've finished imaging and have gone to bed but I don't have too much temp drop due to the scope being in my observatory and the temp stays pretty much the same after I close the roof.
I also often get fog coming in a ~10pm so can't waste time taking darks (or ICNR) when the sky is clear.
There is a theoretical advantage with taking lots of darks and averaging them to reduce random noise compared to the single frame of ICNR. This is offset by the potential change in temperature between the time of taking the lights vs the darks.
Try both and see what works for you.
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