In the few roll cage failures I've seen, the tube junction failures (which were rare) were all caused by poor welding. At the Lincoln Electric welding school they had a roll cage out of a Joe Gibbs Winston Cup car on display. Three tube junctions in the driver's side door bar failed from lack of penetration and almost impaled Tony Stewart.
Every fabrication team member from Joe Gibbs racing was sent through the two week Lincoln Electric Motorsports welding school after that incident. They also go back periodically for a refresher course.
If the tube junction is fit up properly and welded correctly, its unlikely to fail before the joined tubes themselves fail. A gusset won't help in that situation. A gusset can work as additional insurance against a poor welding job, but if the welder screwed up the joint weld, what's to keep him from screwing up the gusset weld?