To go even deeper into the weeds: this is only true of "simple" requests[0]. Requests that aren't "simple" always require preflight approval. This is based on which requests a <form> or link could already create without approval; since the dawn of time, <form method="post"> could submit a potentially-destructive request, and sites needed to protect themselves against that via XSRF tokens; so CORS could allow submiting the same class of requests without preflight approval, and not introduce any new attacks. But there's no <form method="delete">, for example, so CORS would have created attacks against previously-secure sites if it had allowed DELETE requests without preflight approval.

[0] https://developer.mozilla.org/en-US/docs/Web/HTTP/Guides/COR...