Articulation opinions can be funny to read because the "they don't need to do yoga" argument formulation is predictably reliable enough to put on a bingo card, when what people are actually more likely to be looking for is the ability to take a few stances that are not standing firmly at attention. Running, turning, jumping. I doubt many are contorting their figures into pretzels (outside of transforming them), but even the simple Dreamwave Wallet Theft stock pose calls for more joint range than most G1 guys had.
I don't get the "articulation doesn't matter to kids"; I'm sure play value comes in many forms to kids, but growing up the one thing I kept wanting more of from toys of any genre/property was better articulation. And I'm sure there are enough then-kids that felt that way too.
But yeah, some articulation demands are just gravy and for Transformers especially I don't see the lack of them as a dealbreaker. Ankle tilts, while very appreciated, never diminished older figures that lacked them; I can handle toys never having articulated fingers since most people just use those to Super Originally and Cleverly have their toys throwing up middle fingers anyway. Ab crunches I coulf definitely do with more of in real life; TF toys don't miss much without them. Double-jointing for elbows and knees can be nice, but it's fine if those are singles.
I'm generally happy with a ball jointed neck for expressiveness, universal joints or equivalents for shoulders and hips, preferably bicep and thigh swivels as well (not a dealbreaker without, but these are good to have), single elbow and knee, wrist swivels (or whatever doesn't result in bicep curl arms). Ankles and/or toes are a bonus (but I like that ankle tilts have become a standard, for stability).