I think this is specific to person, age, other aspects of life e.g. level of stress and sleep quality that affects recovery. If you go to failure but you can train that main muscle group on the same week, I think you are fine as ideal set number for intermediate athletes are between 12-20 per muscle group (according to Dr. Mike Israetel @ Juggernaut Method).

Yeah, I know there are different takes on this. Going to failure or near-failure (I stop when I can't maintain proper form) has been working for me so far, but I think the point still holds that what matters is how much you've taxed your muscles, whether that's to failure or 90% of failure or 80% or 50%, not the precise number of reps you've done.

Actual failure is a good way for a lot of people to lose confidence, and that carries over more and longer than leaving one rep in the tank.