I’m in the process of building a new bedroom over a garage, and building control have asked me to fit 75mm kingspan / PIR to the ceiling before plasterboarding.
I guess the challenge for you will be hitting the joists with the screws through the PIR and the existing plasterboard.
I don’t think it would be a waste of money for you, but equally as woody suggests if there are loads of gaps around the floor joists (where they meet the walls) it may not be fully effective.
If you want to do a full job, you may wish to consider removing the plasterboard from the garage ceiling, addressing any gaps in the floor joists with expanding foam, then fit your PIR and then new plasterboard on top.
It will add to the cost of the job, and you may find there weren’t any problems with joist gaps after all…but the finished job will look better with a normal plasterboard ceiling in the garage rather than PIR on show.