I have a love/hate relationship with poles. I don't really like using them, but the benefits outweigh the annoyances. I can go farther with less discomfort using poles, and they're valuable, sometimes essential, for creek crossings and other iffy terrain. So, I use them regardless of pack weight, but not generally on my daily walks.

Also, I find that my balance isn't as good as when I was younger, and I feel more confident with them. I do sometimes just carry them if the trail is narrow or brushy. I keep meaning to figure some clever way to attach them to the pack temporarily, within easy reach.