I play Bach on both my harpsichord and my piano. They are very different instruments. Trying to copy the sound of a harpsichord with piano or vise-versa is folly. One must simply try to produce a musical interpretation with the tool at hand (pun intended). As we have no recordings of Bach playing anything, we are left with academic reasoning of scholars and our own common sense in the moment (in which we must consider the acoustic, the audience, the instrument, and all other variables) in order to arrive at a reasonable choice.
In practice, I use no pedal, some, or quite a bit on piano.....depending on these variables.
There is no definitive answer then.
(The same is true for temperament.....I use an unequal temperament at home on both piano and harpsichord.....but the last public performance with the harpsichord (as continuo with orchestra) the musicians struggled with period tuning, so I was forced to alter the instrument to equal temperament. Everyone was happier with the sharp thirds and homogenized quality key to key of et....so who am I to argue for historical accuracy in that setting?)