I am very happy that you found that article. It makes it easier to discuss a topic when we know everyone has read the basic reading materials.....
Yes, the potential is there. But, up until recently, many USB drive enclosures did not have the proper chipset or firmware to allow booting, even if the connected machine does. During the G4 era, bootable USB drive enclosures were not common.
As for USB 2.0, well, this is an unsupported feature, that has been resolved with correct hardware work-a-rounds.
But, again, because of hard drive enclosure chipset variations, firmware variations, and USB 2.0 controller chip variations, 100% success cannot be guaranteed.
In this thread, the OP was dealing with two very different machines, and had already encountered some of the problems with booting that I am aware of, and briefly detailed above.
For 100% success, firewire is the only way to go with PPC Macs.
If you want to mess around, hit or miss, USB/USB2.0 is fine.
But then, that brings up the issues of transfer rates and data transfer quality. In both of these issues, firewire is definitely, without exception, the better choice.
Firewire has much higher sustained rates of data transfer than USB1.1/USB2.0, and does not have the problems with data corruption during transfer due to low bus power, or interference by other USB devices.
USB is inferior to firewire for data transfer and storage needs.