I spent a couple years making "useful stuff" like this. I think it's just a phase some of us go through. Prediction. In 2 years, you will be using mostly smd parts and swapping them out with a hot air station.
Just curious, but how does one prototype with smd parts without using designed pcb’s?
They don't, they design PCBs *(Unless you mean prototyping something basic that can be calculated on the back of an envelope)
The question is what kind of pcbs
For simple layouts
They break it into small schematics according to functionality and build them individually for faster workflow, debugging etc...
If its simple (no tiny tracks, BGA etc) then probably you can do it on a diy pcb. If you got a set up for home pcds it will be very fast.
It takes me 1h to print it while doing something else at the same time.
For complex layouts (BGA - Multylayer)
You rely on datasheet, examples, appnotes, etc. Good EDA helps too.
Many times "calculating" may be much more expensive than building it.
Everyone at the end have to build it as final product. PCB is part of the circuit and interacts with it. (you can see it clearly when speed-voltage-current-temperature goes up)
Ending with many prototype pcbs is not unusual... The key is to minimise the number/cost of them.