Good explanation of when and how to poach by Sarah Ansboury. The article breaks down the issues and explains clearly the benefits of poaching and how to pull it off. Remembering that pickleball is a team sport you need to communicate with your partner about your intention to poach. "Anticipation is more than a love song sang by Carly Simon. It is key to your success in poaching."
To help you pull it all together the great article has links to videos that demo the techniques that Sarah talks about.