One of the key things I think these guidelines miss is the need for titles to uniquely identify what is changing, distinct from other potential commits.
foo: Fix function documentation
… is pretty unhelpful, whereas:
foo: Document function's return types with '@return'
foo: Update documentation to use '@chainable' over '@return self'
foo#bar: Remove `@chainable claim`, this method might return null
… all give much more information (and yet could all be represented by the first title, as I've seen it happen).
Maybe after "Keep in mind that this will be in the repository forever." we could add "Ensure your title briefly but uniquely explains what you have changed." or similar?
(My casual term for this requirement is commit message "passing the Timo test".)