I use a Kifaru Gun bearer so both my hands are free. I can then use two poles. Two poles really help me in steep country for going up hill and down. My knees aren't in the best shape, and either are my feet. Poles really help take the weight off. They do require more energy though, so it's a trade off. But in steep country, carrying heavy loads, I'm a big believer.
If you use a floorless tent or tarp for a shelter, you might be able to use trekking poles to replace your tent supports. If so, you've just shaved several ounces from your pack. Win-win.