I have a Sigma 150 on a FF. I think the working distance is excellent. 100mm would not work as well for me.
Does it need a tripod. Not necessarily but it is a "fat" and heavy lens so it's not the lens that I turn to when I am shooting people, outside, although it is more than capable of doing that.
When you get into macro/near macro, it is very hard to get sharp images without a tripod. Mostly because you lose a lot of light when focused in that close, and DOF is about nada, so stopping down is usually necessary... which brings you to slow shutter speeds. A tripod is absolutely necessary if you want to do any focus stacking.