not really, and not at the expense of overtaxing your CNS
I'd rather avoid that last rep than have to wait a week to train the same muslce again.. k 1 set wont do that much, but going to failure is way overrated.
i think you are confusing "over-training" and "failure" ... the workout i posted uses a moderate amount of sets/reps overall, and when it's done to failure it is very effective and will not overtax your central nervous system as long as you do not try to increase the volume..
IMO, most over-trainers tend to combine going to failure and volume training... doing 20-30 sets of 12 per bodypart to failure would definitely kill your CNS... but going to failure on a moderate number of sets and reps SHOULDN'T
some individuals may be more succeptible than others... personally I find this style of routine very effective... it might not be for everybody though