Speaking personally I find that I always use awk for printing (numbered) fields in shell-scripts, and when typing quick ad-hoc commands at the prompt.
The main reason for this is that it's easy to add a grep-like step there, without invoking another tool. So I can add a range-test, a literal-test, or something more complex than I could do with grep.
Yet using cut, even with extra piping to tr or grep before, is probably over two times faster than awk, which may or may not matter depending on what you’re doing.