We prove a noncommutative $(p,p)$-Poincaré inequality for trace-symmetric quantum Markov semigroups on tracial von Neumann algebras, assuming only the existence of a spectral gap. Extending semi-commutative results of Huang and Tropp, our argument uses Markov dilations to obtain chain-rule estimates for Dirichlet forms and employs amalgamated free products to define an appropriate noncommutative derivation. We further generalize the argument to non-tracial $σ$-finite von Neumann algebras under the weaker assumption of GNS-detailed balance, using Haagerup's reduction and Kosaki's interpolation theorem. As applications, we recover noncommutative Khintchine and sub-exponential concentration inequalities.