Should I negotiate my job offer?

I just received an offer that’s at the upper limit of the salary range I initially provided during the interview. However, after delving deeper into the role’s responsibilities, I feel I may have undervalued myself by around 10%. Unfortunately, I can’t compare my offer to a salary range since that information wasn’t included in the job posting.

What do you think: is it worth negotiating? If so, how should I go about initiating that conversation or crafting a follow-up email?