Being able to recover fast between sets is something that can be developed. I remember a football player I trained. During one specific phase we were using very short rest intervals to develop the capacity to maintain a high level of strength and power during a drive (which has a short rest period between plays).
I wanted a ratio of about 10 seconds of effort for 45 seconds of rest (similar to the structure of his drives).
The first workout he did 365 for 8 reps on the bench press.... but finished at 225 for 6 on the 5th set because he couldn't recover fast enough.
After 4 weeks he was actually able to INCREASE the weight on his last set (did something like 365 x 8, 365 x 8, 365 x 8, 365 x 8, 375 x 8). His other lift were similar (but he didn't increase on the last set, but had no drop either). In that time period he gained 7lbs on an already big body.
I can tell you this... you CAN decide to lengthen your rest periods so that every set is done with heavier weights. OR you can can refuse to not be good at something an work on it. In both cases you will get gains, but in one case you will invest in better future gains and more efficient workouts.
The trick is to start with longer rest periods and VERY gradually shorten them.
As for not following the percentages. Percentages are just broad recommendations when it comes to selecting reps and weights. For example the average person can get 5 reps with 85% of his 1RM and 10 reps with 75% of his maximum. But in reality, and depending on muscle fiber makeup and training experience, it will vary widely.
Someone with a lot of fast-twitch fibers and a ton of experience training with low reps might get 4 reps at 85% while another one with tons of experience with higher reps and more slow twitch fibers might get 9 or 10.