URL shorteners simply allow you to reduce your URL length and make them look good, both of which are good for adding links to social media content. In fact, with the strict word limit for certain platforms like Twitter, it often becomes necessary to use these.
Most good URL shorteners use a 301 redirect to pass the link juice to the original site. So, yes, you can use URL shorteners if you want to, as they have no adverse SEO impact.
However, you don’t necessarily need to do that for all social media platforms. Also, URL shorteners don’t provide much benefit beyond the link shortening, so use them only for that purpose.