I am not sure of your sources and where the 'consensus' opinion is formed.
Here is my learning from doing over 240 BIAB brews:
Grains will give harsh flavors when the mash pH is not controlled to less than 6.0 pH during the mash process,
Mashing most specialty grains will result in a greater extraction of sugars and color than mash capping or steeping,
Roasted grains will give a stronger roasted flavor when mashed with the other grains versus capping the mash with the roasted grains or separately steeping the roasted grains,
Over use of roasted grains will also give a harsher flavor, which is why most of the darker grains are recommended at lower addition levels of the grist,
To get the same color, the use of roasted grains which are added as capping the mash must be increased since the amount of the extraction is less when not mashed with a base malt,
This same lower extraction when steeped or mash capped additions are used applies to caramel/crystal/toasted malts as well,
If your conversion is complete and the wort has equilibrated inside the grain particles and in the wort, then squeezing the bag to force more of the free wort out of the grains will result in no change in the gravity,
If your conversion is incomplete, then squeezing the grain bag will result in unconverted starches being extracted from the grains,
If you have a short mash where the wort is not in equilibrium with the water inside the grains, then you will see some increase in gravity of the wort squeezed out of the bag versus the wort already collected,
The majority of the wort which is collected from squeezing the bag is wort which is contained not in the grains, but between the grain particles,
Simple squeezing forces the grain particles closer together and frees up the wort trapped in this interstitial region thus giving us more wort,
Applying greater forces than simple hand squeezing will partially compress the grain particles and reduce the amount of wort trapped within them,
All of these factors I have tested and measured many times in figuring out what works best for my process, maximizes my extraction, and which actions bring about the biggest improvement in extraction with the least amount of work and which require greater effort for minimum gain. In the end, squeezing or not is a personal choice. If you are getting harsh flavors from dark caramel/crystal or roasted grains in your system, you can choose not to squeeze and that is fine. I would suggest that there is another cause for the harsh flavors to be extracted which is unrelated to squeezing.