If the body is healthy and movement is correct then failure is best!!! Although most aren’t ready for failure because of rounded shoulders from the computer, alterior pelvic tilt and a whole list of others.
Doing a 1 rep max then of course you go to failure or 10 reps etc. But there are many out there that shouldn’t be going to failure like the people on a very popular losing weight show on tv. Those guys are getting injured far more than they should and they don’t show you that on the tv show.