In practice, most families use a combination of cup types. Open cups at mealtimes when someone can supervise and mop up. Straw cups for water throughout the day and on outings. Maybe a soft-spout sippy for the car seat when spilling isn't an option.
This is fine. The concern with sippy cups isn't about occasional, supervised use — it's about replacing the bottle with an equally problematic all-day vessel. A child who drinks from an open cup at meals, uses a straw cup for water during the day, and occasionally uses a sippy for convenience is developing normal oral motor skills.
What to avoid: filling a hard-spout sippy cup with milk or juice and letting baby carry it around all day. This is the specific pattern associated with dental caries and delayed oral development. If a sippy is used, keep it to mealtime, fill it with water rather than sugary liquids, and treat it as a transitional tool rather than a permanent solution.