when we have a する verb, (e.g. 支度する、案内する、心配する) is it true that we could optionally insert an を particle in between the noun and the する?

Because in the example sentences here and here, we can see this usage (the usage of を particle appearing between the noun and the する)

So basically am i right to say that for all する verbs, we can optionally include (or exclude) an を particle in between the noun and the する?

If not, how exactly should we decide whether or not to include that を? I mean i know with alot of usage we will just know it but are there any rules that we can apply here?