I prop open panels when possible...
Yes, exactly

With a little thought you can figure out where any sling would go and protect those areas with additional towels. Keeping it out of tight spots like doorjambs (esp. between the trailing edge of the front fenders and the leading edge of the front doors) can save you a ton of work even if you`re doing those areas anyhow (dried polish is different from wet polish you`re actually working with). Even just polish dust (don`t overwork the product

) getting on things can cause more work.
BUT...I have some areas where I do tape just because of that same concern- if product does get/dry in there it`d take me forever to steam/etc. it out. And today`s products make it pretty quick and easy to do limited areas by hand.
Working "off the edge" is a good idea period IMO, even when merely washing or LSPing. Just a good habit to get into. Remember the reverse direction when using a Flex 3401
Fishing- Looking at your attached pic of how somebody taped that car, the tape at the top of the door sides around the lower window seal...if that`s taped properly it`ll prevent polish from getting into the seam but will not cover so much paint that you need to do back and address it. The more time you take doing the taping you need to do (and only *you* can say what that is), the less time you`ll spend overall.
FWIW, *I* look at that pic and think:
-I wouldn`t bother taping the edges of the wheelwells or the bottom of the doors unless I had a good reason to
-I`d consider taping something in the doorhandle area similar to the tape at the bottom of the sideview, gotta do behind the handle by hand anyhow
-I could go either way on the tape between the two doors; on/off in a moment while keeping polish out of the jamb vs. covering areas of concern with towels and having the doors open. It`d depend on the car/job in question, might even do it both ways