Ellie usually wears a collar when I use her ID tags (which is almost never.
She is always walked on a harness. On rare occasions her collar may be sitting by the door and we do a quick trip with it but she does pull and I end up regretting it, so that probably won't happen anymore. One of the last times I took her out with a collar was when she got spayed. Her incision was very long because of a biopsy that was done and I didn't want the harness anywhere near it. She wasn't going anyplace anytime fast anyway.
Unless you are showing your dog or are doing the CGC test, then there doesn't seem to be any reason at all to walk them with a collar.