Yes, absolutely keep it.
When you edit a raw file, you NEVER technically modify the raw file itself. The pristine original Raw file is always kept, untouched. When you make edit changes, white balance, exposure, cropping, whatever (anything you do), what is saved is simply a LIST of those edits or changes that you specified. This list goes int that xmp file. If you open the file later in the Raw editor, those changes from your list are preset and shown to you. If you edit it a second time, you only change the list instructions - which is lossless editing. You can undo any change, which just removes the list item. You can uncrop, and get back all of your original image (they never left). If you change your list, different white balance say, you only change the list, you are NOT shifting image pixels back and forth, not ever (lossless editing). This is good stuff.
When you output a JPG file, the actual edit is done then (shifting pixels, just this one time), and the JPG pixels contain all the list edits that you specified, it being your final version to be used elsewhere. If you want to edit it again next week, you discard that expendable JPG, and start over from your raw file and your previous list starting point (and then output a replacment JPG file).
If you delete the xmp file, the only harm is that you lose your list, and are back to only the original raw file. There are worse things, but you probably want your list.
There are ways to embed it, but the xmp file is only about a 8KB file, not much to rewrite when you change your edit.