I suspect that there is no right answer for every situation. Here are a few rambling thoughts:
One of my rifles has the vent located at the base of the breech plug. If I wipe between shots, fouling can be left in front of the vent. This rifle likes to be picked. If I use a pick, it needs to be after wiping.
If I run a pick into a loaded barrel, I like to feel a crunch, as the pick hits powder. If I can't feel the powder, something is wrong.
If the barrel is loaded and I can see 3fg through the Chambers vent liner, I'm happy and don't use the pick.
This last happened during test session. I was cleaning a barrel stub after running some trials. This stub has a clean-out hole located directly opposite the vent. After wiping the barrel, I opened the clean-out, looked into the barrel, and noticed a chunk of fouling in the vent. I took a pick and ran it into the vent while I watched through clean-out. I saw the pick push the fouling into the barrel. But when I removed the pick, I could see the fouling was deposited back in the vent again. That ruined my confidence in the pick for vent cleaning. For testing, I use a pipe cleaner instead of a pick, or use compressed air. Neither help a real world shooter, but work fine for testing.
Regards,
Pletch