As kids, we used to smack the crap out of each other with various sticks/whips/crops. Bare skin. It was like a game, one with no real objective.
We really had to hit HARD with the “bat” - the short jumping whips with the flat leather end - to make a mark, let alone hurt. A dressage whip had more bite, but you really had to haul off to make it hurt for more than a second. The racing whips could certainly pack a punch, but you had to overhand them straight on. Mostly, it’s noise - the whips could sting, but the noise was scarier. Obviously you can cause some damage beating someone repeatedly with any of these, but it takes more than a single smack (especially if the purpose of the smack is known).
You know what DID hurt? Lunge whips. Get caught on the end of one of those cracked at your legs and OUCH you’d charge at the wielder. The other whip that really hurt was the Parelli carrot stick - that string could get GOING, and the stick itself is long and heavy enough to hurt good.
TLDR: an underhanded smack or two on the shoulder or behind the leg with a jumping stick, applied in a way that makes sense to the horse and has been installed (go forward, move over, etc) is not a problem to me. Including in competition. A tap or tickle behind the leg or on a haunch with a dressage whip? Driving whips tapped as directional signals? Same deal. Where whips can be used in such a way as to cause damage is in the lunge ring, behind the barn, and when used repeatedly, usually as punishment, in a way the horse does not understand. None of these are really addressed by banning whips in competition.