I've used my 150-600 Sport on my Bogen 3021 which looks similar to the 055. A lot depends on the head and connection, I started using Bogen's hex plate QR system but switched to the Arca style dovetail years ago and gained a lot more stability. Long lens technique will have a lot to do with how good your final results are. It doesn't cost you anything to try the rig you have.
It's not a question of if
Imo the sport version is unusable on a tripod or monopod
Again imo sigma blew the physical design. A metal hood on the end of a metal barell creates a serious balance issue when zooming.
I couldn't hold it either so I sold it
The 200-500 is perfect, less barell, plastic hood, nicely balanced in your hands
I think I will take a serious look at the Nikon 200-500 VR. I've read it's reasonably hand-hold-able and I don't need to go beyond 500mm - this will be on a cropped body (D300), this is the only current model I have that is compatible with the electromagnetic diaphragm where I can stop the lens down if need be. Of course, this would be used frequently on the Art 055 as well.