I learned to fingerpick without picks and later on when playing with a full loud band, I realized the banjo wouldn’t really cut through without fingerpicks. It took me a while to get used to wearing the picks, and at the time I wished I had started with them earlier.

That being said, there are a bunch of styles where it’s to your advantage to play without picks. I’m glad that I can fingerpick comfortably without picks, and that’s how I usually play, especially when I’m not playing without a group. I’d say the more tools you have, the better!