Most of this answer is basically subjective, but there's a lot going on in this question that I think should be addressed.
The tldr version: Yes, を is frequently used in "real" Japanese.
But if I may offer my 2 cents..
Be careful not to get ahead of yourself in your assumptions about what is and isn't "real" Japanese. Sure, 私は is often dropped, but only where it's appropriate to do so. It's not some unwritten rule that real Japanese speakers never use pronouns. Likewise with particles. Often they are dropped, usually in informal situations where the context is well understood. I know it can be kind of a revelation when learners get out of the textbook and start realizing that there's a whole other world of Japanese language, but the textbooks start where they do for a reason.
That said, particles are used. Frequently. Very frequently, in fact. That includes を and に, and while へ is in general a less common particle compared to others, even that you will hear in regular, everyday use.
I think we can probably get a rough guess at where your Japanese level is based on the way you're asking this question, and the only thing I can really advise you to do is listen until you really get a feel for what's going on, and don't break linguistic rules unless it's a choice that you are aware of, the consequences of which you understand well. I would advise that you avoid imitating other people even until you've developed a bit more and stick with what is comfortable for you. The question includes some really off-base assumptions, but I'm sure they will be remedied by more exposure to the language.
Understand the particles and their roles. Part of the problem might just be that you think one should come and you see another. Also continue to work on being able to hear and understand what's going on around you so you can get a keener ear for what's being said. It's probably that particles are buzzing around you in people's words all the time, but they're just swallowed up by fast or unclear speech.