fingers not being parallel ?
-- chords ? Take the D chord for example, seems there is a slight twist to get those fingers to fit

pinky extended ?
-- say you need your index finger on first fret and you need to grab a note on the fifth fret ?

Again I am a newb and want to start off with as best technique as possible.

If it's a super huge stretch then...maybe the pinky can be extended? You do not have to play a D chord with your fingers twisted sideways.

There are exceptions to every rule but, I avoid this type of thing as much as possible.