The short answer is it depends. Fuses are burnt by the console's stock bootloader when it detects a firmware higher than the fuse count. So the only way to avoid burning fuses is to use a custom bootloader such as Hekate or fusee that ignore the fuse check. The problem is ensuring that we can use Hekate or fusee to boot the console every time otherwise we risk burning fuses if the console ever boots normally even once. That's where AutoRCM comes into play; because it 'bricks' the console, it will always boot into RCM and in RCM, we can use a custom bootloader to bypass the fuse check.
The other issue is keeping AutoRCM. Since AutoRCM is installed to BOOT0 and BOOT0 is changed during firmware updates, normal firmware updates will always remove AutoRCM. Therefore we need specialized tools that will enable AutoRCM after a system update such as ChoiDujourNX or Daybreak. Of course, this is only an option in those tools so if you disable it, you will burn fuses even if you use Daybreak.