Yep. Even in my shaggy barked trees a light touch with the feet is key for fluidity, speed, efficiency, solid work positioning (more on this later), and longevity.....The stomping and subsequent yanking is murder to one’s joints too. Nobody’s legs are supposed to see hard, yanking, pull forces like that, and I’m certain the stomping push force is not good.. An old coworker of mine had these shitty dull Klein’s that needed that kind of force to function. He made them work, he was a good capable climber, but wouldn't ya know he’s having hip and knee pain before he’s 40 years old?
For most trees around here, just stepping up with my body weight is sufficient to set the gaff deep enough.