If you're dealing with non-trivially complex interactions with external hardware, it can easily be faster to test in hardware (it that's what you're used to doing) than generating a simulation model.
That's a very interesting "IF".
Most FPGAs interface to some other hardware. The reason you're using an FPGA and no an MCU is that the requirements are too fast or too complex for an MCU.
I've only ever done about half a dozen, not especially complex FPGA designs, in each case I've built up from trivial designs, adding functionality a piece at a time until it all works. Never touched a simulator.
Exactly! So you have zero information with which to compare the two approaches.
I'm not comparing anything, simply pointing out that there is no "right" answer.
Not for 100% of cases, but for this guy, it is silly to buy a dev board, learn to debug some designs, then choose his device and buy a new dev board, only to then learn the simulator.
FPGAs are a massive learning curve, personally I find that getting to real hardware as quickly as possible is a productive way to learn. YMMV.
A software type worked with me for a short time, by posts like these and emails and got his demo FPGA design working. Clearly it was not too difficult. Zero experience to 60 in a couple of weeks. That included the simulation as well as working on hardware. No flashing LEDs.
For some of the things I've done, I have no clue how I could simulate the external hardware with any meaningful accuracy, and doing so would add significantly to that learning curve. But I do have the hardware and the test gear to see what's going on, and can easily instrument any internal FPGA signals. Not much different from building something with standard logic.
I don't know what to tell you. If you don't know how to model units, then I'm not sure how you could design the FPGA. It is very seldom that you need to model the entire FAA RADAR system. Normally you only need to model the bus protocol at some fundamental level to make sure the handshake is happening. If your FPGA has higher level protocol happening, you must understand it, or you could never design the FPGA.
I acknowledge this takes time and effort, often writing the simulation models takes as long as the FPGA design. Why would that surprise anyone? I run simulations on each module I write. I learned this in writing software, and it reaps huge rewards. Pay me now, or pay me 10X later.
As I mentioned, I don't do much FPGA stuff, so the time learning something new can be a substantial, and more importantly, unpredictable proportion of overall project time.
I'm sure if I spent a lot more time doing FPGA stuff, the time spent on learning to do simulation would be worthwhile, but for the odd 1-off project, I didn't feel a need for it, and it worked out fine.
But you've said you've done multiple FPGA projects. You see learning time as wasted. I see it as invested. You have been doing yourself a disservice by not learning the most important part of FPGA design, simulation.
Since you have never used simulation, you are in no position to compare it to working without it. And don't tell me you aren't comparing the two, you just did! I suppose you just don't have much confidence in yourself learning new things. I've always been the opposite, ready to jump in and learn things that will pay rewards as I progress.