Depends. For example, there may be a restaurant that you go to sometimes, or a restaurant that you go to usually. The difference here is that 'usually' implies that the restaurant is the one you're most likely to go to.
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Personally, I would avoid that particular sentence construction as it sounds like you added the word usually as an afterthought.
Rather, I would say: - 'I usually go there'.
However, I would say 'I go there sometimes'. I am not sure why I treat these words differently but I do. In the absence of superior knowledge I would have to say either construction is acceptable.