In this contribution, we present the measurements of inclusive $J/\psi$ production at midrapidity ($\left|y\right|$ < 1.0) in Au+Au collisions at $\sqrt{s_\mathrm{NN}} = 54.4$ GeV by the STAR experiment. The dependences of nuclear modification factor ($R_{\rm{AA}}$) on centrality and transverse momentum are measured with improved precision compared to previous measurements at 39 and 62.4 GeV. Combining newly measured $R_{\rm{AA}}$ of $J/\psi$ at $\sqrt{s_\mathrm{NN}} = 54.4$ GeV and previous results at SPS, RHIC, and LHC energies, no significant energy dependence of $R_{\rm{AA}}$ is found within uncertainties up to 200 GeV. The comparision to model calculations is presented and its physical implications are discussed.