You don't have to only press the key to the actuation point, you have to press it at least to it. You can then stop anywhere between that point and the bottom, which is easier to do with long travel keys.

In my experience this works best with lighter keys (requiring less force). I found this out when messing around with a cheaper mechanical keyboard[0] by realising that I had just stopped pressing the keys all the way. I wasn't even looking to "type better" or whatever, I was just curious about all the mech hype and was trying one out.

Getting back to membrane keyboards, in my case a 2013 MBP, was actually painful because the keys actually require more force to move past the rest position, but they then become very soft, so all the force becomes speed which then stops all of a sudden when I hit the bottom. To me, it's practically impossible to not bottom out the MBP keyboard because of the short travel. Also, since I got used to pressing the keys with too little force, I find I actually miss a lot of the keys, which had never happened before.

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[0] Drevo Gramr with Outemu Brown switches