Not always, advancement comes with additional responsibilities , which get compensated for , in cash, status , recognition. People want advancement for many reasons, sometimes it is just the cash, sometimes it is because people want to set the direction of the company/engineering, want to be the person leading / saying what to do rather than being told what to do etc. I have seen ( and done myself) people move out of field operational positions into management , which is a career advancement, but for less cash short term, but greater freedom and ability to influence things.
With respect to Dr Jackson, I also agree, for field positions, engineer development positions, positions with fairly well defiend skills and functions etc you do a fair bit of market analysis and look at revenue and come up with a number which you think the job is worth and what skills you will get for that. So there is a macro level of widening the gap between what the job is worth and what you can get people to accept. There are quite a few caveats to that, all industry dependent as the good doctor indicated. For example if you looking to bring people in to develop, you will often end up overpaying ,form a purely job worth point of view, at the entry level.
For more creative positions ( senior eng , senior mmgt, scientist ) it becomes a far more flexible as it can be quite hard to define what the job actually is in detail, “other duties as required” is pretty much most of what ends up being done.
Once you have a pay structure , if anyone want’s more, it is quite reasonable to say you know what the job is worth and let them leave.
Obviously we need to be careful with the broad brush as every position and industry have their nuances, and as the OP was asking for our experiences in both receiving and issuing counter offers, that’s all we can do and have a discussion around it, can’t really give definitive advice to the OP.