I try not to use tape unless I have to do so or there are to be many coats. I have been pleased with frog tape. It is supposed to have some patented edge system that seems to keep paint from crawling underneath. I always take a drywall knife and burnish tape down.
Oh well, you will find with a quality trim brush and some practice you will become more confident skipping tape for exactly the reasons you suggest.
By the way, I usually prefer to paint trim first and cut the wall color into it.