Training to failure doesn’t increase strength or hypertrophy according to Jordan and Austin (both medical doctors) at Barbell Medicine. https://forum.barbellmedicine.com/t/training-to-failure/11792
But they do use RPE where you estimate how close you are to failure in order to perform a number of reps for that set.
I need to admit I didn’t read your post well enough and so my response was a little off. I think it’s important to point out that when you say beginners should train to failure often, this doesn’t mean every workout or every set of every workout, it’s just a tool that lets you learn where failure is and how many reps you can perform. And there’s some debate in all of this, but I think it’s pretty well accepted that training to failure does not in itself provide results above other methods.