Totally get that......
Indeed they feel very awkward at first!
It takes a bit of practice.
But once it all 'clicks' into place it becomes very natural, like swinging your arms whilst walking.
I walked around a local sports field practicing with them.
Trailing them behind me.
then holding them loosely.
then swinging my arms with them dragging.
then 'planting' them with each step.
After an hour or two it clicked.
Sadly I think a lot of people give up on them, or try them with a poor technique, and see no benefit.
The only time I'm not using mine is in towns and villages where I don't want to create a tripping hazard for others. Otherwise, every step of the way. They are like my extra 2 legs
I too lean into the walk a bit.
And pushing back on the poles really helps me/boosts me, moving forwards.
But hey, we're all different........
Just not convinced of the mechanics of staff usage and the benefit.
All seems a bit lopsided. using only one.
Good for balance maybe....... and 'looking' like a Pilgrim