I had the same issue-I only enjoy pole when I do what I'm inspired to do, but I do want to make progress, challenge my body, and expand my dance vocabulary (which requires hard work). I came up with a balance.
About 3 days per week, I have my "intense" pole sessions, which include the following:
WARMUP (30-45 min)
To begin, I turn on my favorite songs and freestyle for a fun 10 min. warmup, and to get myself in the mood for practice.
Then, I stretch one muscle group (eg. front splits, back mobility).
Followed by strength training (POP Pilates, or choose my favorite strength exercise on the pole) to warm up some more...
And then stretch the other muscle group (middle splits)
ONE TRICK/SPIN (15-20 min)
Afterwards, I will choose ONE (max. 2) pole spin, trick, or combo I would like to really focus on. I choose only one because it allows me more time to slow down and REALLY focus on my technique, instead of trying to cram a whole bunch of half-assed attempts into one pole session. This way, I get to focus on something I'm inspired to work on as well.
FREESTYLE (1 hr)
After that, I reward myself with 45 min-1 hr of freestyle time! After all of my hard work, I get to do whatever I want. This is the time I can put on my favorite music, get creative with floorwork, dance barefoot or with heels, etc. It's just pure me time. I emphasize freestyle in my practice because I pole dance to DANCE and express myself.
REST DAYS...
On my rest days, I freestyle without doing a bunch of tricks or spins. The focus on rest days is to more focus on creativity, fluidity, movement, etc. and using dance to warmup my body for stretching. Then these are the days I stretch heavily, for about 1 hr. OR sometimes, I may just take a hot shower, put on a bunch of clothes and stretch for 1 hr. I alternate between light and heavy stretching days.
For one or two days a week, I have TRUE rest days, where I just do nothing.
This is what has worked for me as of recent, and it's sustaining me quite well. I don't need to follow it to the T all the time, but it really keeps me going to have a routine. By the way, my routine is inspired by the class structure I get at my pole studio (90 min sessions), where we do a 30 min warmup with stretch/strength routine, 50 min learning a bunch of tricks, and 5 min. freestyle. I just remixed it based on what I wanted. I hope this helps! :-)