Clarification about USB receptacle and plug
USB-C

If you are building a new device, use USB-C. It is much more flexible for OTG. For USB-C the connectors are the same and the roles can be decided with pull up or pull down resistors. Here is some good reading on the subject. 

Other USB

USB-On the Go was added to the USB 2.0 spec as a way for a device to act as either slave or host. It does not break the compliance of a device. The posts you referenced are correct in that the host is decided by detection of the ID pin. For mini or micro USB you can attach an AB port that accepts either form-factor cable to your device. Please note, you need to build an OTG capable device to be able to sense the state of this PIN. There are several integrated chips that have this functionality built in. Whether the ID pin is grounded or floating is part of the cable. 

Unfortunately, many manufacturers have chosen to build USB-OTG devices with USB-B connectors (Example) and you need a non-standard cable to make it work. This is not ideal but these cables are widely available. The good news is that if you build your device with the proper AB connector, it will still work with these cables.