When would we use "useImperativeHandle" in ReactJs' hooks?

I am trying to understand what ReactJs' team expects from developers when using the useImperativeHandle's method. Currently the documentation indicates that:

imperative code using refs should be avoided in most cases. useImperativeHandle should be used with forwardRef.
Does this means it is good practice to use useImperativeHandle with forwardRef ? When would we use useImperativeHandle typically?
More specifically, in this discussion on stackoverflow about how calling child's methods from parents , someone provided this answer which propose to use useImperativeHandle . Then some comments argued that this is not good practice:

This is not really a good pattern. {...} It's better to pass props into the child component and then have a button click in the parent change the parent's state, and pass a state item into the child which will trigger the child's componentWillReceiveProps, and use that as a trigger.
No, it's not usually the best pattern, it's more of an escape hatch when you need it, and should be used only in emergencies.{...}

I would we make the things limpid for everyone, so here my specifics questions:

• Is it good practice to use useImperativeHandle with forwardRef ?

• When would we use useImperativeHandle typically?

• Can we, or not, safely use useImperativeHandle for the convenience of easily communicate properties and methods to the childs' parents?

• Why the documentation say that imperative code using refs should be avoided in most cases. useImperativeHandle should be used with forwardRef.?

• What are the information to know to make an educated decision about the usage of useImperativeHandle?

• lastly, is it safer, safe, and even a good practice to use the useEffect's method to communicate element to parents, like in the following demo, here a relevant's snippet:

 useEffect(() => {
    ref.current = { componentState }; // get a forwardRef's reference, then transmit some state to parent by modifying the reference
    validateChildren(ref.current.componentState.two);
  });

No repository file or test is named. Start by reviewing the useImperativeHandle and forwardRef documentation, the linked Stack Overflow discussion, and the StackBlitz example to determine the intended guidance. Done means resolving the listed questions with clear, accurate documentation about appropriate use and alternatives.