Well, I would in English too if I were trying to be polite, and probably say please as well. But what I mean is, does the same distinction of tone apply in Irish as in English between 'would you pick up some milk' and 'will you pick up some milk' - i.e. the latter is something you might well say to a close friend where the need for formality did not apply - and are the future and conditional actually used in this way?
The Irish imperative would be used where politeness isn’t required, rather than the Irish future. The Irish future would be used for expressing a desired outcome rather than be used to make a request, e.g. Beidh deoch agam as “I’d like to have a drink” doesn’t mean that I’m asking for a drink.