More generally and not specific to miniloaders, inserters are always more efficient transferring inventory to inventory without belts getting involved in the middle. They don’t need to chase items on the belts, or find empty space on belts, etc. If you don’t need a belt you shouldn’t introduce one if your goal is UPS efficiency, and that includes loaders of any type.
On the third hand, this doesn’t mean you should replace long belts with inserter+chest chains, either. Since the optimizations of 0.16, long belts are merged into a single entity for UPS purposes, so they are more efficient than having lots of individual inserters. Every component has a role in play in the right circumstances.