Is it good to uninstall previous driver always before to install new version on Windows PC?
I'm talking about any type of driver.
No, it might even be bad.
Removing a driver instead of replacing it might leave you with a computer that's not functioning properly.
Admittedly modern OS'es ships with a decent amount of drivers that works "good enough" that this isn't as much of a problem that it was back in the Windows95/98 days.
It depends on which drivers and which OS version are you upgrading from. Display and audio drivers models changed substantially from XP to Vista. Other than those two, I wouldn't worry.