As far as I know, the whole rationale for the design of the RS3 is to eliminate the skating force. To the extent that there probably is some small amount of friction in the pivot point of the headshell, that may generate some skating force, but it ought to be very tiny, much too tiny to require you to use the AS mechanism of your tonearm. In considering my response, please take note of the qualifier: "as far as I know".
It's always wise to experiment for yourself; try it with and without anti-skate and determine which you like best.
It's always wise to experiment for yourself; try it with and without anti-skate and determine which you like best.