One exception is domains picked up from a GoDaddy auction. I believe you have to pay for a year, which you might not want to waste. Or even a transfer takes a while to complete.
Most registrars will include a year as part of the transfer so if you have a domain at GoDaddy that expires in 2024, you can transfer it to Namecheap and then it'll expire in 2025 -- without "wasting" what you've already paid for.