For most people with normal anatomy and no pre-existing injuries there shouldn't be any problems with touching the chest when benching. The rule is basically the same for anyone and any PL exercise (squat, deadlift, bench), use the maximum range of motion possible without pain. If you have bad hips, squat higher, and raise the bar above the ground (with like a piece of wood or a rack) when deadlifting. If you have bad shoulders, bench with something on your chest (like folded towel) to shorten range of motion.
Personally, only time I've not touched the chest when benching is when I injured my right shoulders doing muscle up (never again, fuck muscle up). Very often, people saying "you shouldn't do X cause you will get injured like me" just happen to had pre-existing injuries or some condition (like impingement)
Personally, only time I've not touched the chest when benching is when I injured my right shoulders doing muscle up (never again, fuck muscle up). Very often, people saying "you shouldn't do X cause you will get injured like me" just happen to had pre-existing injuries or some condition (like impingement)