Various intents on the word, we've ranted in circles about what entails a glitch.
I say, do whatever feels right to you. Alternatively, the best other course I've heard is "If it doesn't make sense in-world, then it's a glitch", which means that, yeah, 'Sonic could duck under the oil for a bit and shake it off after, no biggie, as long as he doesn't breathe it' could still be considered glitchless.
For me, most of the game's physics are accidental, so I don't bother distinguishing, but if you do, go for it. Best of luck.