I never go to failure. I do a RPE based progressivr overload. So for RPE of 1-10, 1 means you have 9 reps left in you…9: 1 rep left, 10: 0 left. I do a warm up/ramp up then something like 8 @ RPE 6, 8 @ RPE 7, 2 x 8 @ RPE 8.
the weight varies for a given RPE if I’m carrying fatigue.