The leading search engines, such as Google, Bing and Yahoo!, use crawlers to find pages for their algorithmic search results. Pages that are linked from other search engine indexed pages do not need to be submitted because they are found automatically. The Yahoo! Directory and DMOZ, two major directories which closed in 2014 and 2017 respectively, both required manual submission and human editorial review. Google offers Google Search Console, for which an XML Sitemap feed can be created and submitted for free to ensure that all pages are found, especially pages that are not discoverable by automatically following links in addition to their URL submission console. Yahoo! formerly operated a paid submission service that guaranteed crawling for a cost per click; however, this practice was discontinued in 2009.
Lastly, it's important to remember that paralysis by over-thinking is a real issue some struggle with. There's no pill for it (yet). Predicting perfection is a fool's errand. Get as close as you can within a reasonable timeframe, and prepare for future iteration. If you're traveling through your plan and determine a soft spot at any time, simply pivot. It's many hours of upfront work to get your strategy built, but it's not too hard to tweak as you go.