The question is how much time you spend editing files on embedded devices versus how much time you spend editing files on your main development machine.
If you have ssh access to the remote machine (goes with most methods of automatic synchronization) then you can use TRAMP mode to directly edit the remote copy.
I test different configurations on the target before syncing the right one into my build environment. If I mounted the RootFS via NFS then its possible to use ${EDITOR}, but thats not always the case.