Here's Monsta X from this past week on M Countdown with their mics on. Not all of them have the same backing vocals levels, but I can clearly hear Kihyun, Jooheon, and I.M fighting to deliver live during this aerobic performance.
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I would much rather hear this than a perfect lipsync performance.
I think it's a choice though and it will vary depending on the artist, the show, the choreo, how many performances they have, and even member to member individual choices.