Can bailiffs only list goods if the estimation reaches the debt amount or shouldn't they bother?

No

Bailiffs may take control of goods only if they are the goods of the debtor.^[1]

Bailiffs should only list goods, either before removing them,^[2] or to make a controlled goods agreement.^[3]

^{[1] Paragraph 10 of Schedule 12 of the Tribunals Courts and Enforcement Act 2007.
[2] Regulation 30 of the Taking Control of Goods Regulations 2013.
[3] Paragraph 13(1)(d) of Schedule 12 of the Tribunals Courts and Enforcement Act 2007.}