Thanks Robert,
I think that this is a question of weighing an improvement in optimization against a loss of external authority (backlinks from other websites).
If these are brand new pages with no accumulated external authority then there is very little loss in redirecting and a gain in optimization. That means DO IT NOW - before any valuable external authority accumulates.
However, if there are a lot of external links into these pages then a percentage of that accumulated authority will evaporate through the redirect. The more powerful these pages, the greater the loss. In this case the decision to redirect becomes more difficult. Only google could calculate the value of the improvement in URL optimization compared to the loss of external authority. If it was my site I would value the external authority much more than changing a url from /toys/ to /chew-toys/
So, I would give two different answers to this question based upon the characteristics of the website webpages involved.