I haven't used trekking poles but I've used wooden poles and they make a huge difference while hiking. Ascents are somewhat easier, and descents are much more so thanks to the poles as another thing you can hold on for balance especially for trails where the only thing you can hold on to is the land you're stepping on.
But if I rely on poles too much, would I be robbing myself of training and building my body to be able to cope with hiking challenges especially at points where poles aren't needed, like when scrambling or scaling rocky vertical terrain? Also, overall strengthening of the body to build stamina, strength, and endurance since you're technically relying on something to make things easier.