I'm going to suggest the better way to load is lock the bolt to the rear - that's why the release is located for easy use with the off hand. Insert mag with no carrier pressure, then release with full spring pressure. My issue rifles never failed to chamber, and it duplicates exactly the same motion needed swapping mags - the bolt is back then, too.
On the other hand, I've seen numerous failure to feed when simply releasing the charging handle - which likely meant the mag was inserted against carrier pressure. First, mags don't always seat doing that, and the carrier just knocks it down and chambers nothing. Second, regardless of how well it's done, once in a while it gets shortstroked.
It might be OCD, but using the first method eliminates a lot of human error, and that's what we should strive to do, practice until we can't get it wrong. A method of loading that is the same regardless of coming out of the gun case or out of ammo nets more consistency.