It is a basic fact of human anatomy that we're all differently proportioned. I'm very lucky in that I'm Mr Average. I can buy off the peg clothes, my feet are both the same size, and my inside leg is proportional to my overall height. My arms are proportionally correct for my upper body and my shoulders are too.
Not everybody is so lucky.
As I'm Mr Average, I'm comfortable with the straight leg with the heel on the pedal, and my fingers just touch the 'bars. I have shrunk a bit as I've become older, but other than tilting my bars a bit, the bike fits me now as well as its ever done. As I've said before, I adjusted my bikes in the past without any knowledge of rules of thumb, but I ended up sort of a perfect fit for the rules of thumb.
As I said, not everybody is so lucky, so we must remember that a good bike fit for one person is sheer agony for another.