I test my vertical jump and standing long jump before I workout, if it drops it means my CNS has not recovered yet.
CNS overtraining is the only thing that bothers me.
I still train, sore muscles or not, as long as my CNS has recovered its ok to me. But generally speaking my muscles don't get all that sore, unless I do a new exercise. I just get a slight ache to tell me it has been worked but not overdone.
I do not train to failure that's why I can workout so often, its not needed to get gains. I get bigger and stronger at every workout so it must work, and I've put on 2kg of bodyweight (+1/2 inch on my arms too) with a small decrease in my waist size in the last 2-3 weeks, and added 6 inches to my standing long jump (2.96 metres), so it works.
Remeber though I'm training like an athlete who does want to increase muscle mass, but I'm only after functional mass with the strength that comes with it.
Also I do Olympic lifts before my squats, so if I'm overtrained, believe me, I will definitely feel it when I do power snatches because the bar will land on me
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Fast twitch muscles are hard to recruit when one is overtrained.
I do nothing fancy, I use a weight that allows me to do 4 sets of 5 with 3 min rests in between each set. And these are full back squats as well, done with an all out explosive CAT tempo. The last set will be fairly close to failure. I add 5 lbs every workout, so that means at the start of every 6 week training cycle, the weight on the bar will be below my 5 rep max. But by about week 3, I'll be getting close to my old 5 rep max. And from then on I'll be using weights higher than my previous bests. My general rule is, if the bar speed slows down then I terminate the set. The next workout the rep where I slow down will have gone up by at least one. When i can get all 4 sets of 5 at good bar speed, I increase the weight.
Simple periodisation. After the 6 weeks I take 9 days off and then start again.
Believe me I used to train balls to walls HIT style, every set to failure, and while it works for a while, the gains I'm getting now are way better, and I don't feel like a beaten pulp! For what its worth my legs are by far my biggest bodypart.