Since taking up trekking poles, I cannot do without them. Fewer falls and twisted ankles, but also greater comfort: more stability with less conscious attention and less muscular fatigue. The disadvantages ultimately seem minor, except on scrambling or cable-protected sections, where prudence requires folding and stowing them.
I do not use them for a family woodland or seaside walk. But I always use them in the mountains. They seem essential whenever I carry a loaded backpack, even more so a child carrier. For me, they naturally complement good footwear.