It takes about 2 mm of movement to invoke shaft resistance. Pile compression under loading may be able to create this effect or reconsolidation of the soil around a pile after installation. However, there are certain conditions which many use to decide whether to use toe resistance only, or toe resistance and shaft resistance, or shaft resistance only. Drilled shafts on belled bases is one case which shaft resistance is often not used, this is also a function of the pile length as well and competency of the suppotrting material at the toe.
We must as well consider downdrag or settlement of the soil around the pile. This tends to place a dragload on the pile which has to be taken into consideration in the structural evaluation of the pile. This is in opposition to the support provided when the pile is moving down relative to the surrounding soil.
For straight shaft piles - drilled shafts, very often toe resistance is not relied upon and shaft resistance is used. This is generally because the pile tip cannot be guaranteed to be void of loose and disturbed material.
There are a number of situations based on soil conditions etc where the static method of analysis has to be carefully examined. In many cases if we have a very long pile greater than 20 m it is possible that shaft resistance may be able to support a significant load without toe resistance being invoked. This is based on load transfer mechanisms.
For more information, one needs to read papers by Bengt Fellenius or his red book. I would also caution that there are other literature that would have different opinions. That's the name of the game generally. These often lead to confusion so it is necessary to always spend some time in thinking about the problem at hand and deciding on whose concept fits the bill the best.