Usually, yes. You should be challenged during each set. So regardless of what the rep number is you (normally) should be pretty close to failure (as in you can't complete another rep with respectable form) at the end of that set. Personally, I think it's an ass pain to change weights every single set, every single time you do an exercise and would rather change intensity patterns per workout (mon, sets of 4. wed, sets of 10. fri, sets of 6). But I annoy easily.
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