I shoot from a benchrest with pedestal fore rest and rear bag when testing guns/loads.
But, I shoot from bipod when figuring drops and such. Reason being; I've seen some rifles shoot different point of impact from a bipod than they do off a benchrest, and I don't plan on hunting from the benchrest.....even though it is portable, just too much stuff to drag along.
For normal distances and when the bipod wont work, I use crossed shooting sticks from a sitting position when I can.
The buck in "How wide is this Mule Deer" thread didn't give me any time to use any kind of rest, and was shot prone with no bipod for the 1st shot, standing and freehand with the 3rd and final shot (2nd shot was a miss from prone position.)