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It is not hard defined as such indeed. But most time it is connected to... Since "Ground" is by itself undefined most time in reality and can have many different flavours, this will be a never ending debate.
That's why I posted the diagram from Rane. Balanced cable in and of itself always has a shield, but I don't recall ever seeing Pin 3 on input or output jacks on gear defined as "shield" but rather ambiguously as "ground."
That tech note was originally from 1985 and updated in 2015...so yeah, a long-standing debate.