I can see unarmored exoskeletons becoming a thing for foot patrols or squads that need to carry unusually large amounts of equipment but can't use a hummer or APC for some reason.
I can also see some sort of assault armor meant for room clearing and other short term uses.
But as far as entire armored divisions I just don't think so.
A large diameter bike wheel can actually go up and down stairs no problem. Its only tiny wheels that have great difficulty.