Front rests that are filled with sand seem to be the idea rest for shooting from the bench. The sand has a deadening effect as the rifle begins to recoil. OTOH, bipods tend to jump or bounce off of a hard bench top and may lead to inconsistent points of impact. It's possible to "load" a bipod by flexing the bipod as the feet are planted and the rifle is shifted slightly forward. This should help with more consistent shot placement but it takes a lot of practice, IMO.
When you are afield, there is nothing quite like a good bipod. I always have one attached. I'm rarely in a scenario that allows me to shoot prone. Vegetation or terrain contours normally prevent me from shooting from that low of a position. I've taken many animals while sitting and using the bipod extended. With a little practice, you can shoot quite accurately from a sitting position.
It's a good idea to shoot with your bipod at the range if you intend to use it afield. Guns don't normally recoil the same way if switched from a front sand bag to a bipod. If they recoil differently, the bullets will impact at a different point down range. That is probably why you see many shooters using a bipod at the range.