I played guitar for many years before I switched to bass.
When I switched using my fingers was the preferred method ... and lucky for me I took right to it.
However ... I now find it a "necessary evil" to use one on several of our tunes ... many times combined with a palm muting technique on the low E to add drive to rockin songs ...
One thing that really helped me is the fact that when playing guitar I often used a combination of pick and fingers (lots of Tele players do) ... so I searched for and found a pick that minimized the sound difference between the pick and finger attack ... I've used only ... "Herco Flex 75" picks ever since (that was 30 years ago) .
Over the years I've had bass players comment about the sound of my pick playing ... and given away a fair number of these picks to other players who really dig them. They have a unique design that has a circle on one side (that's where your thumb goes) and gripping ridges on the other so it tends not to slip. This pick is also nylon which has a softer attack too.
Using this or any other type of pick still requires gaining a proper technique that works for you ... but for me this one pick helped me perfect it.

... I use whatever technique and tool it takes to get the job done ... be it fingers or pick.