Technically speaking, any change of plane will have some amount of movement. Historically, those are all caulked. Today, there are a lot of good grouts that have much more flex than "regular" portland based grout. On my own house if I am using one of these newer grouts I wait and see what will happen, easy to caulk later. For paying customers I ALWAYS grout because its cheaper to do it before I leave rather than get a call back and have to go back months later.
I just built a house and there are only 2 places that have shown a little movement and I may caulk. The counter to backsplash in the kitchen and the tub to wall tile in one bathroom. The backsplash to cabinets has not moved. Anyway, I don't love caulk and it will require recaulking sometime in the future. In my own house I avoid it if possible. For the tub to tile transition this pretty much ALWAYS moves (floor and wall locations), I haven't ever seen those not need to be done. I always use silicone caulk there in a color matching the tub.