"Be careful where that wire pokes out." "It's so cute the way her little head pokes out into the hallway when she hears me feed her." "Am I okay where I parked? My car is poking out of the driveway a little bit." Yes, it's pretty common :)

"I love it when my plants start poking out of the soil, it's very exciting that they are starting to grow!" "Poke out" has a very similar meaning to "Stick out", so it's fairly common. I hope this helped!