I almost always sew over pins. The sewing foot has the little hinge that lets it adjust as you go over a pin. I taught sewing classes at school for 31 years. Yes, we occasionally broke a needle, but most of the time it kept their fabric where it needed to be for a seam. The key was making sure that the thinnest part of the pin was near the seam (heads out of the way of the foot). I tried to have the area between where the pin went in and came out, be about where the sewing would be. I taught that pins as perpendicular (always a good vocab word) to the seam as they could be would help that. Now when sewing a seam with quilting that has been pinned to keep it matching at an intersection, I only remove the pin if it is too thick. Then only when the needle is right up to the pin.