In general, yes - doctors work longer and for less freedom. Definitely during training, especially. Four years of undergrad (need a bachelor's to get accepted to med school), four years of med school, variable length of residency, variable length of fellowship - pretty much can't work much during med school, and getting paid less than a nurse during residency and fellowship with up to $400k in student loans hanging over your head. Anywhere from 11 years to 15 years, maybe longer, from the start of a bachelor's degree to becoming an attending.
Even starting at year one of college, getting your BSN, a year of working as a RN, and then a DNP would probably only take eight years (maybe longer if you work as a RN for longer in between), so it's faster to become a NP by far and you graduate with far less debt. Astronomically less debt. Where I work, NPs also seem more likely to work the 9-5 jobs while the physicians tend to take more overnight call, but this varies.
If you just care about knowing enough to get the job done, NP is fine... but if you want the extra depth and breadth of education, MD/DO is where it's at.
IMO, the science load is vastly different, too... so it depends on exactly how much science you want incorporated into your practice and what type of science you want. Many MD/DO schools require research projects to even graduate now, and the top tier programs want to see significant amounts of bench research before you can even get in. My friend did her research on the effects of hypoxia on the resistance of prostate cancer cells to certain chemotherapeutic agents, as an example. Since you will have to do some research for DNP as well (assuming all programs are DNP by the time you apply), it would be worth investigating whether nursing research or medical research fits your interests better. If you are less interested in research, NP would be the way to go IMO.