While it is not necessarily bad to do a full crimp, this is quite a dangerous technique that comes with the risk of having chronic hand injuries that might never totally heal.
Generally, crimps put plenty of stress on your finger tendons and joints. For this reason, it is most suitable to rely on this climbing mechanism when necessary. This means you can avoid long-term finger injuries in the long run.
In the worst-case scenario, you might suffer from chronic finger injuries that could mean you never climb again. If you twist your fingers when trying to crimp climb, it will help if you take a break from climbing until you recover fully. Take several days off to avoid long-term injuries.