YES!
New builds absolutely need to be inspected. Not trying to bash the industry, but outside of the plumbers and the electricians none of those subs require licensure in Texas. Most of them know that a few days after they leave their work will be covered up by, concrete, or sheetrock, or paint, or carpet, or whatever. Also every one of those subs works for the contractor. You're spending the money, but no one out there works for you. No one except your inspector.
That is of course unless you're an expert on construction and residential building codes and best practices.
Yes, hire an inspector. They need to do a form inspection and verify everything is correct prior to the pour and you need to be able to stop the pour before it starts if things aren't to spec.
I'd also look at getting a form survey. Last chance to cheaply make sure that house is exactly where it's supposed to be.