1. Direct wire in board. It's fine. Strain relief preferred, especially if you're using single layer NPTH boards (helloooo cold solder joints) or solid wire (less flexible = more prone to fatigue failure).
Really, strain relief is paramount, regardless. Crimped connectors can be better on strain (the strands are able to slide past each other right beside the joint) but you still need to keep things stable otherwise they'll shake apart eventually.
This is more of a problem where flex and vibration are common. Finer stranded wire and more flexible insulation help a lot, and there are ways to handle repetitive flex (like the chain belts or spirals used to bundle cables to moving platforms).
2. Wire-to-board clips. These crimp on, and have a retention latch that clips into the PCB, holding it secure for wave soldering. Solder still wicks up the wire, though. I'm guessing, with the right wave cycle, it doesn't wick past the crimp part that hugs the insulation, so the strain relief is good, but beware if you're using them with hand soldering, you may end up wicking too far.
Worth noting that consistent and well optimized processes go hand in hand with high reliability. It's hard to do in the first place, but even harder to do in low quantity. If it's really critical and not just a nuisance if there's downtime, you may consider contracting out assembly to a house that has this experience. (And by "really", I mean you'll be looking at 5 digits cost, maybe 6.)
3. Wire-to-board pins. An example is linked above. These, I think, solder in without the wire getting tinned at all. The pins may be a weak point though.
4. All the various kinds of connectors. These include IDC headers, crimped headers, flex cables, etc. These also include wire-to-board headers, like ribbon IDC to pin headers which solder in.
You'll probably avoid IDC for the most part, speaking of; for ribbon cables I guess they're not terrible but I'm not sure how much so on the 10-year scale (and, if we're talking automotive environment, probably not as great?).
5. If you don't have enough budget to do super-hi-rel construction, consider redundant methods. For connectors, sure, you could double up pins or cables for example. But you might also just make two or three full units, and have them ready to swap out with minimal downtime. Possibly with a live changeover if downtime needs to be truly minimal.
Tim