On a triple, there are only a few positions where the chain is straight with the rest of the gears placing the chain on an angle between the crank sprockets and freewheel. Therefore, it's physically impossible to get a 3 x 7 to work perfectly in every gear.
The shifts don't happen on the top part of the chain which is under tension between the cassette and the chainrings, they commence underneath with the part of the chain that has variable tension due to the sprung derailleur cage. Part of the job of a (correctly aligned) derailleur cage is to supply the chain perfectly parallel to the sprockets, so it doesn't matter what angle the rest of the chain is.
You can see it in this image - the top jockey wheel is perfectly below the sprocket, even though the top of the chain is coming off that sprocket at an angle:
If anything it's best to err on the side of having the derailleur slightly too far to the right, as you can always 'overshift' to the bigger sprockets by pushing the shifter slightly more than necessary to get it to move up the cassette, whereas shifting to the smaller sprockets is solely down to how much cable the indexing in the shifter releases.
When people say that big-big and small-small isn't recommended it's due to possible extra wear on the chain or rubbing on the chainrings/front derailleur, nothing to do with rear shifting.
You don't appear to be listening though so instead here's a nice picture of a lovely teddy bear: