Yes, when I pass a cemetery I say the Eternal Rest prayer. Also if I am in a cemetery I say the prayer. I do not regularly go into cemeteries because most of them are only open during my work hours, and my loved ones are buried in different states and I am usually not near their graves on the dates of their exact deaths. But some churches I visit have cemeteries attached so one has to walk through them to get to Mass, so that makes it easy to pray in the cemetery. Also there is a custom in certain older towns of having beloved parish pastors buried on the church lawns, making a little cemetery there.
You get a partial indulgence applicable only to the Souls in Purgatory for going into a cemetery and praying for the souls of the deceased, except during November 1 through November 8, on which days you can get a plenary indulgence each day under the usual conditions, applicable only to the Souls in Purgatory, for praying for the dead in a cemetery. The last few years I have made sure to go into a cemetery and pray every day on those days to get the plenary indulgence. I try to visit a different cemetery each time and include non-Catholic cemeteries like Jewish, Presbyterian, non-denominational, Episcopalian, Baptist etc.
You also get a partial indulgence, applicable only to the dead, for saying the Eternal Rest prayer.