Do not forget that Bach's music needed to feed 20 of his children over the course of his life. (10 survived)
I have a hard time believing that he was intentionally carving out the rules of eg _Gradus ad Parnassum_ rather than consistently trying to make music that sounded good with good timbre given the constraints of his living situation and employer.
What seems prescriptive to the children is often originally descriptive to the elders.