This is an awkward question...
OF COURSE I DO! Everyone does right? I normally do this with the character that is getting on my nerves! The stupid voice I might imitate and sometimes petty things that they'll say and i'm thinking oh dear me.
Also, reading Harry Potter after the films is a totally different experience than reading them before the films. After the films, you have to do Hermione's voice...
"It's LeviOsa, not LevioSA"
Even though this quote isn't even in the book you just HAVE to quote it when reading to get the true essence of Hermione! Classic Hermione quotes just have to be mimicked. Also, Hagrid is an amazing character to imitate because of his accent.
I always find characters with strong accents need to be imitated. Not in a negative way, but in a way that you can understand how they might sound. For example, Celie in The Color Purple has a 'Deep South' accent and so does Scout in To Kill A Mockingbird.
Overall, you just have to mimic them to understand their accent and also...it's really fun too!