I've been converting RAW to JPEG using code that I've written as part of a bigger project I've been working on. I've done a lot of testing and had great results. I tried a number of different demosaicing algorithms and some result in better scan output than others.
There are some old threads that say in-cam JPEGS are fine. I think this can be true for some subjects, but for many of my subjects, especially for close up work, I find JPEGs baked from RAW produce better results than in-camera JPEGs. Based on my tests at least.
I've been considering setting up a web service where you can upload your RAW files and have them processed into JPEGs for use in photogrammetry. Small fee would be charged per conversion, though might run a free beta period if anyone is interested..?
If I was to provide service, there'd be a little more than just the conversion. For example, if you shoot on a turntable against a green/dark screen I have code that will auto-mask the subject. I use fairly complicated computer vision algorithms which I think beat the standard background removal masking method used in Photoscan. No more shadows on your background! Again this helps produce better results.