I stake when theyre young. If u need to support branches with heavy bud, u can bet your plants have a massive network of roots. You could really hurt the roots if u stake now. If Im ever lucky enough to have this happen to my plants, I try to find a way of securing them via string to the ceiling or something up high.
You should use a fan from the beginning to put a light breeze on the plants to strengthen the stems. The plant should be able to support its own weight.