In short, ACT learn works as described in the documentation till the configuration (in XML) is corrupted or you try to learn VST3 plug-in. Unfortunately, that happens quite often. So the rest is about several ways to either minimize or eliminate the risk using alternative methods.
Since plug-ins was not developed with control surfaces in mind (till NKS), there is no default "logical way" to map them. Especially taking into account that total number of RP parameters is far above the number of available physical controls.