The team I work for tends to use GitHub's "Squash and merge" button a lot. I find it to be the best of both worlds: the `develop` branch gets a single commit per PR, with a summary of what was done (I always edit the summary commit message and reduce it from a copy of 20 commit messages down to just the most important 4-5, deleting the entirety of messages like "fixup" or "address review comments"). But the PR on GitHub also preserves the history of the commits, so anyone who wants to look at the messy commit history can follow the PR link and see the actual commits.

I'm sure there are other Git forges that would support a similar workflow, with a "Squash and Merge" button or equivalent, but my team hasn't felt any need to migrate away from GitHub so I've never yet investigated that in detail.

Only downside I've found to this workflow is that it would make it harder to migrate to a different Git forge in the future: unless you're very careful with the migration, the PR numbers are likely to be different (perhaps resetting at 1, even) and the other forge won't end up with the commits that are on GitHub's copy of the repo but no longer on any active branch (we also use the "auto-delete branches when you hit the merge button" option). But it would still be possible for a migration tool to handle this correctly: look at all PRs on GitHub, grab the commits from them, and migrate them to Merge Requests on the new forge.