I agree, not sure why so many are misinterpreting the question when it is very clear in the instructions.
The answer should be YES and then as you said, answer NO to having used public benefits. Here I also added supporting evidence of the applicant have a college degree to establish a profile that is convincing to the USCIS officer in understanding they are not likely to become a public charge. This is like the medical exam, all applicants are subject, I'm sure there's exception, but its the same logic. You are ultimately trying to establish that you will be a contribution to the economy and not a burden, that is the entire purpose of the I-864 and it has to be interpreted in that context. I'm sure for everyone submitting with NO and still being accepted, is just some flexibility by USCIS because of the confusion around interpretation.
B. Applicants for Adjustment of Status
Unless they are specifically exempt from the public charge ground of inadmissibility, the public charge ground of inadmissibility will generally apply to all applicants for adjustment of status, including, but not limited to:
Family-based applicants;
Employment-based applicants; and
Diversity visa applicants.
https://www.uscis.gov/policy-manual/volume-8-part-g-chapter-3