Is the ranged based for loop beneficial to performance?

The Standard is your friend, see [stmt.ranged]/1

For a range-based for statement of the form

for ( for-range-declaration : expression ) statement

let range-init be equivalent to the expression surrounded by parentheses

( expression )

and for a range-based for statement of the form

for ( for-range-declaration : braced-init-list ) statement

let range-init be equivalent to the braced-init-list. In each case, a range-based for statement is equivalent to

{
  auto && __range = range-init;
  for ( auto __begin = begin-expr,
             __end = end-expr;
        __begin != __end;
        ++__begin )
  {
    for-range-declaration = *__begin;
    statement
  }
}

So yes, the Standard guarantees that the best possible form is achieved.

And for a number of containers, such as vector, it is undefined behavior to modify (insert/erase) them during this iteration.