Andrew Sarangan wrote:

I realize that that is what the AIM says, but why are they to be used
for emergencies only? I always interpreted the MSA as the minimum
altitude to use when flying off-feeder routes (direct to the IAF),
sort of like the OROCA when flying off-airways.


In many countries MSAs are operational altitudes. They are not in the United States. And, in a
designated mountainous area you are required by 91.177 to have 2,000 feet vertically or 4 miles
laterally when off a published route or segment. MSAs are not IFR altitudes, routes, or segments.