Using a darlington transistor on large current circuit is never a good idea because of its large saturation voltage.
Take TIP120 and TIP41 for example. At one ampere collector current, the Vcesat of TIP120 is 0.8V while that of TIP41 is only 0.15V. It is worse by over five times, wasting energy as heat.
What one needs is not a darlington transistor but two transistors connect up to make a "darlington" configuration, with the collector of the driving transistor sourcing current from supply rail instead of from the collector of the power transistor.