The manual for auth-optional looks like this:

If auth-optional is specified, then SMTPAUTH is not required to establish an 
SMTP transaction. This is only useful to let a listener accept incoming mail 
from untrusted senders and outgoing mail from authenticated users in situations 
where it is not possible to listen on the submission port.

What is submission port? I noticed, that if option "auth" is specified, than 
nobody can send messages to my server without password, even gmail or other 
external services. If option auth-optional is specified, i successfully receive 
mail from gmail, yandex and everything else. So, I think auth-optional is the 
only choise for most of servers, am i right? 

I'm very happy using OpenSMTPD! This is the best MTA ever! 

Could you help me with one more question, please. Will OpenSMTPD ever support 
non-tls PLAIN login auth mechanism? For me it is not a problem to use tls, but 
some old or thin mua does not support tls or ssl, i know this is not secure, 
but for the OpenSMTPD full greatness it would be nice. 

Thank you for all!  

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