There’s no clear cut answer and you can train to failure with less sets or train with more sets not to failure for more sets, depending on what you’re in the mood for, what suits your personality better, or to vary your workouts.
It also depends not the exercise. It’s easy to duplicate quality sets on machines or with dumbbells. This is not the case with squats, bent over rows, bench press, overhead presses, and weighted chin-ups.