I did not use to need them, but when the BPL Stix went on sale last year, I bought a pair for $40 to practice with.
Just as in your current avatar picture, I would thumb my shoulder straps while walking, and got pretty tired with it. I wanted my arms to be doing something. Using the poles has been great in that it keeps my arms busy, and takes my mind off walking distances.
I still do not use poles for anything other than walking, as my gear does not yet require it, but I have grown fond of taking the poles along now, and feel as if I have forgotten a piece of must-have gear, If I leave them behind.
I would suggest getting a cheap pair and using them for awhile to see if it helps you walk. If they do not, and you do not require them for any other tarp throws, or other tasks, then you can be sure that poles are not an important item in your kit.