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Umpires learn balks in stages. By this I mean we all go through phases and as we grow as officials our understanding of the game, our role, and what a balk is changes. I don't know everything about umpiring, but I do believe that balks are one of the last things that we master in this trade. I think the reason is we don't see them often enough, and our focus and game awareness grows as we do.
Where I am at now with my officiating I see almost ever balk that happens in a game, but I don't call everyone. I often use some preventative officiating, and I might mention it to a member of the defense that he is getting close, or I might mention it to the pitcher if he is close enough after a play or something. And like a football official giving the coach a chance to take care of an issue with one of his players before the flag flies on a similar event, I will use this approach when I can. If a coach makes mention of it, I will let him know that i will look for it, or ask him to tell me what he saw, if he says, watch the front knee, then the defense will often tell the pitcher to clean it up and the game moves on.
On the other hand, if the pitcher flexes that front knee or closes the front shoulder and freezes R1 for even a split second, I'll bang that thing right away.
There is no right or wrong answer to balks, there is only, what does the guy that signs your checks want you to call. Know that, and know your role in the game, and everything else will work out.
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