THE ANSWER: It depends...
Lifting to failure is 100% not necessary for gains and progress. If done too much, it can counter productive. For many novice lifters, going to failure is overused and overrated.
For Compound lifts (like Bench Press, Squats, Deadlifts), going to failure can be dangerous. This is when training injuries happens! Going to failure is more safe during single joint or isolation exercises. I.e: Hamstring Curls, Leg Extensions, Machine work, Lateral Raises, Arms, Calfs etc. Those are low risk movements and going to failure CAN be helpful to tax smaller muscle groups.
Going to failure and pushing it to max. Can be useful for muscle hypertrophy by creating metabolic stress! Just remember to use this less frequent (so once in a while, preferably towards your lasts sets) If you are feeling joints & muscles are achy and recovery takes longer, then listen to your body first! Take the time needed to recover between training sessions.
Lifelong gains are made by MAXIMISING Reward and MINIMIZING Risk. It's a marathon not a sprint! Learn how to optimise your training, instead of spending countless of hours wasting your time with minimal results and danger of injury by improper lifting technique. Listen to your body's signals, push yourself to the max at the right time, but don't burn yourself out every session!