That is incorrect.The only way to truly see if the chain is at the correct tension is by compressing the suspension all the way.
One needs to position the swingarm pivot, rear axle & engine sprocket Center-lines Straight in line.
The drive chain Needs to have about a 1/2 inch of easy freeplay at that point.
A TOO Snug drive chain can still be Forced to swing past the center-line. But that is what creates accelerated wear of the chain, sprockets & bearings, everytime you hit a bump!
Disconnecting the bottom suspension link (1 bolt & nut) is the easiest way to set that Center-line.
I will admit that I have not had the opportunity to inspect or service a 2022 KLR650, yet!
But the first half of your second statement is 100% correct.
Too loose is better than too tight