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If you are running the game strictly as it is intended, yes. The part where you are wrong is where you wrote that it seemed a "little" time consuming. You should thoroughly roll up and calculate every NPC and every monster. Some GMs prefer to fake it and guesstimate what the stats of each NPC should be. I always run into trouble when I try that.

I suggest using the Nexus. Nexus Nine dot net has a collection of NPCs for Rifts who are ready for the table. You could use those and add to the collection by submitting your own.

There are some stats of CS NPC's in bk. 2 Coalition Overkill from the Siege on Tolkeen.

When I need an NPC on the fly I just use this basic formula.

Minor NPCs (Usually cannon fodder, ya know, most likely to get run over, blown up, shot, or just do nothing)
HP:10
SDC: 10
All stats are 9-10
Bonuses = Level divided by two

Little less minor NPCs (The ones that may be detailed later, or need to be tougher)
HP:15
SDC: 20
All stats 9-10 but if you want him to be tough just say his PS is higher...etc
Bonuses = Level divided by two

Juicers and others just take minor changes on the spot.

Equipment... well I've got a large amount of it memorized so that's not an issue, as well as bonuses for stats or roughly what kind of HP and SDC Juicers and Crazies have...etc.

Wait, I never agreed with that at all. I suggested hunting down what pre-gen characters you can find and using those. Do the same with the monsters (good luck because there won't be nearly as many).

Look, if you were thinking about a having a rampaging rhino-buffalo in your game, but you have fury beetle instead, use the fury beetle. My fiance actually got angry at me because I was spending so much time making NPCs and monsters for my last Rifts campaign. She was right. I really shouldn't have spent more than hour preparing each game session.

Here you'll find some pre-made character of my own. Feel free to use it.

Forget the NPCs and get the PCs to turn on each other. It writes itself.

But yea generally I just have an idea and some rough numbers unless the NPC is going to be important. If the NPC becomes important then I'll stall until I can catch up.