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);
  });

Nenhum arquivo do repositório ou teste é especificado. Comece revisando a documentação de useImperativeHandle e forwardRef, a discussão vinculada do Stack Overflow e o exemplo do StackBlitz para determinar a orientação pretendida. Considera-se concluído quando as perguntas listadas forem resolvidas com uma documentação clara e precisa sobre o uso apropriado e as alternativas.