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Other than spreading it on a pad with a finger, I never have. If you're referring to a video I saw of a man detailing with very expensive wax, I suspect his reason was to keep wax waste to a minimum. That's the only reason I can think of anyway.
I apply wax with bare hand when (1) application for only a small section is planned, (2) applying on a hard to reach area by an applicator. The reason behind the first case is I want to save a clean applicator and skip washing it till a next wax job. Examples of the second case are edge of paint against trim, recessed part of door lever.
As far as I ever tried, P21S is most workable in bare hand application. You can spread it with hand even a large area. In contrary Black fire midnight sun is hard to spread by hand and only good for tiny spot.