I think it's one of those things, where you have to judge when to start using it for a particular lift. Like a belt, kind of.
Haven't got around to using straps yet (or a belt for that matter), but whenever I do, there will be no shame in that, obviously. They're a means to an end (i.e., lifting more weight).
6'2", ~100kg (~220lbs). 40yo, training (with a few breaks) since my late 30s.
Squat 160kg (352.7lbs), Bench 112.5kg (248lbs), Deadlift 220kg (485lbs), Strict Press 75kg (165.3lbs)
My training log