If you are welding structures to be used for something other than a home project, decoration or temporary supporting during fabrication then I perplexed as to why any welding would be accomplished without joint preparation, especially if the completed weld is to be subjected to loads and stresses.
The ability to accomplish a full penetration weld is governed by the welding process, the filler metal, the base metal and the joint type. Additional limitations maybe defined by the governing organizations and jurisdictional authorities (AISC, ASME, AWS, ANSI, DOD, etc).
You have identified some processes and some base materials. What is the filler metal type and diameter (E7018, ER70-S-3)? What is the joint type (butt joint, tee joint, corner joint, lap joint or an edge joint)?
Generally speaking I would not exceed a base material wall thickness of 1/8”. Depending on the application and significance to the operation a square groove may not be recommended.