Drilling pilot holes of any size except a small starter/guide hole is a good way to chip or break a bit. A good bit will overfeed and have problems if it has a pilot hole.
A lot of the guys that advocate a pilot hole do so based on their experience. They have problems drilling large holes. (usually because of badly sharpened or dull bits). So, they drill pilot holes and step up the size until they're just under what they need. Each dull bit overfeeds, which is just enough to actually make it cut. So, their experience is that it works.
If you properly sharpen the bits, they will cut a hole without the need for a pilot. Sometimes I spot a starter hole to keep the bit from walking; I usually use a stepped center bit that won't walk to do that. Anytime I can drill in the press or mill I do that to avoid problems with hole placement anyway.
I worked with one of those guys that ridiculed a drill sharpener. He talked about how when he was in high school, he had been taught how to properly sharpen a drill bit on the grinder, and he could do it faster/better/more accurately than a sharpener could. So, we were wasting our time and energy, we should have learned it right like he had.
Every time I saw him drill a large hole, he used two or 3 different bits to do it. Sure enough, his expertly sharpened bits wouldn't cut and feed unless they were just cutting a small amount on the outside edge. I could go get a newly sharp cobalt bit from my stuff, and drill right through, no fuss, no pilot hole, no problems. Of course, you couldn't tell him anything, he knew it all.