Yes, I do notice the difference if I happen to ride a bike with a different crankarm length. Despite being short, I always used 172.5.
Every time that I rented or borrowed bikes with 170 or 175 - I was never as comfortable as I am with the correct crankarm length.
I remember that a couple of times I borrowed a bike that had a 165, and that was a real nightmare - completely inefficient power transfer!
I'd say go see a good fitter and find out which crankarm length is best for you.
Good luck!