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JKScott - it depends on the card. With cards graded psa 4,5, or 6 - I rarely crack them out before submitting. Many have crossed just fine, but Ive actually found that more psa cards are overgraded in this category of grades than any other that I collect (I dont collect real high grade cards, so cant really comment on psa's grading in that respect). Therefore, I choose not to take the risk of cracking and getting stuck with a lower grade.
With cards graded in the 2 or 3 range, I usually crack out because they almost always get graded at least an equivilent grade and sometimes you get lucky and get a higher grade.
Edited to add - you may be correct that most people crack and submit. If you do so, you just have to be prepared to take a hit now and then. If you plan to keep the card no matter the grade, then that is fine.