There are a ton of threads on this topic here and on the welding forums, shop floor talk, welding web, Ask Andy (Miller), Hobart, etc.
I don't have any problem with it. What I do is I measure inside to inside posts. I add the notch cut. I use a Vogel (google it) pipe notcher so it's nuts on measurement. Let's say it's one and a quarter of an inch, five eighth's of an inch each end. If you're having trouble keeping the notches parallel then you can cheat by using the seam that is inside the pipe. You can put that mark on your pipe at each end on the outside. That will be the center of your cope, notch, saddle, however they say it where you are.
I like loose fit ups. They will keep your line of fence straighter. I see folks hammering them in because the length is too long and then they wonder why their fence like looks like it has snake itis.
Once again, measure inside to inside at each rail, just in case your posts aren't plumb. Add the notch measurement, let's say your inside measurement is 95", with the notch it will be 96 1/4" if you're using two inch schedule forty pipe. Cut your pipe, find the seam, mark each end at the seam. Do your notching. Your rail should slide freely up and down between the posts. You will need clamps to locate it for tacking. If you don't need to support it for tacking then you're rail is too long and you need to shorten it.
Let's say you find your rail is too short, it happens. The way I always do it is I do the longest spans where I'm working first. That way if I cut one too short, happens, I can either find a span where it fits as is or I only have to trim up one end to find a place where it will fit.
Another trick is to ALWAYS weld vertical up. It's a better weld and it is easier, really, promise. Yesterday I spent two hours repairing a repair made by a welder who ran 7018 down on sixteen gauge fence tube, galvanized, notched and fitted five rails 2 3/8" O.D. I hit his welds with the wire brush on the angle grinder and saw that he had a very bad day that day. It was tough welding sixteen gauge galvanized vertical ups with a stick welder over gaps up to three eighths of an inch in a couple of places.