Poincaré transformation consists of translation, rotation, and boosting. And by assuming the physical quantities are invariant and equations are covariant under the transformations, we build the models on particles. The invariance and covariance make sense if space is the same under the transformations. Space has symmetry in the case.
But from Einstein's field equation,
$$ R_{\mu\nu} - \frac{1}{2}Rg_{\mu\nu} + \Lambda g_{\mu\nu} = \frac{8\pi G}{c^4} T_{\mu\nu} $$
space is curved when energy is placed on it.
So the very existence of particles would make the space irregular by making dents randomly. And with this process, space would not keep the symmetry anymore. The earth itself would distort the space by a large amount. But the particles are described with the Poincaré symmetry and the experiments on earth verify the theories constructed with the symmetry.
Why does the Poincaré symmetry work to describe the particles even though space doesn't seem homogeneous?
P.S. The several answers point that the symmetry holds approximately. But I feel difficulty with the approximation view. For example, there is the spin-statistics theorem. The theorem relies on the exchange symmetry:
$$ \phi(x)\phi(y) = \pm \phi(y)\phi(x) $$
The equation represents equality between the left and the right side and there is no room for approximation. If the particles are approximate entities, I guess the spin-statistics theorem would not work.