Most people know what poaching means without making that association. It’s a perfectly legitimate term across all forms of employment, in both negative and positive contexts.
Do we also need to retire ‘head hunting’, because it brings to mind cartoonishly outdated notions of savagery?
The recruiter person should sometimes dramatically proclaim "Off with your head!" to signify a head hunting success (to the poachee).
Reject modernity, embrace tradition.
Within the employment context, is it ever a negative? Only from the perspective of the competitor? But to society as a whole, "poaching" (hiring) employees is clearly a massive win.