trpc with Server Actions

Is it worth creating a trpc server purely for database queries, and then having mutations run by server actions? Originally I thought that server actions would cover everything, but I know they're specifically not recommended for querying data, only mutating.

However, I'm not sure if having a trpc server alongside that would be complicated from a DX point of view?

Not sure if I've explained that well, happy to clarify if needed.
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