Prune/Cut-come-again leafy greens or not?

Does pruning/cut-come-again harvesting leafy greens result in an overall increased yield compared to just leaving them alone? I have some arugula and kale and was wondering if i should pick the lower older leaves or just leave them if i want to maximize yields. Also if anyone knows any experiments/research done on this, do link it since most i found was about pruning fruiting plants.
Also Im in a pretty hot area, will pruning/harvesting leaves delay bolting?

My experience with growing perennial kale is that it's generally best to pick the lower ones first so that you end up with a bare stem with leaves just at the top. If I don't pick them, they end up shrivelling up and dropping off anyway.

The locals used to grow them by the back door and grab one or two of the lower leaves on the way to the outhouse...