Bipod/tripod - yes or no and why?

I usually use my sling on my AR when I go to the range and utilize the form I learned at Appleseed. But I shoot without the sling as well.

I've seen some people bring bipods/tripods to ranges. I know it offers stability and it relieves the upper body from the muscle strain of holding a rifle nonstop.

But what are the advantages of shooting with a bipod/tripod other than being able to sit or at least relieve the upper body and to assist in zeroing in the rifle?

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Bipod/tripod - yes or no and why?