Is eating with the hand a Sunnah, and is one sinful for not eating with it, especially for foods that can only be eaten with a spoon, such as soup and yogurt?

Eating with the hand is a Sunnah, and there is no sin in abandoning it to eat with a spoon; rather, it is a ترك للأفضل (leaving what is better). Ibn Muflih mentioned that the Sunnah is to eat with the hand, and whoever eats with a spoon has fallen short of what is recommended, but it is permissible. Ibn al-Haj indicated that eating with spoons is disliked due to contradicting the Salaf, the possibility of saliva returning to the food, and the presence of a type of luxury in it. As for the major fatwas, eating with a spoon was considered a reprehensible innovation if saliva mixed with it and then it was returned to the food, or if it involved arrogance or imitation of non-Arabs; otherwise, there is no reprehensibility in it. It is clear from this that eating with spoons is permissible, but eating with the hand is better, with the exception of foods that cannot be eaten by hand, such as soup and milk.