The Creating Paclets tutorial is currently (Jan. 2022) the primary piece of documentation available in the system that goes through the overall process, but does not cover documentation authoring in detail.
We're working to improve the documentation that is available in the main system and that covers this topic for v13.1, but for the time being the documentation distributed for the Wolfram Workbench includes tutorials describing how to use the older edition of DocumentationTools available in the Workbench. You may be interested in these:
The older DocumentationTools is very similar in functionality to the new DocumentationTools, so much of what is described in these tutorials should translate easily.
You may also be interested in this Wolfram Technology Conference 2021 presentation by Brian Van Vertloo, head of our documentation software team:
In the video, starting around the ~9 minute mark Brian begins the portion of the presentation that walks through the standard documentation authoring actions.
Regarding the general question of how paclet development should be done, much of the functionality that had exclusively been in Wolfram Workbench is being modernized and made part of the main system. In version 13.0, that meant the addition of the PacletTools and DocumentationTools packages.
Going forward, these tools are the recommended way to create and develop paclets. The following
PacletTools` functions cover common parts of the paclet development process:
CreatePaclet function automates the process of generating an initial paclet directory containing a valid
PacletDocumentationBuild function will transform your documentation 'authoring' notebooks into their final built form. It can also be used to build standalone HTML documentation.
PacletBuild function will both build your documentation, and create a
.paclet file containing the complete contents of your paclet, which may be shared with others and installed using
Finally, there is also the presentation I gave at WTC '21 which describes these tools in more detail:
Let me know if these resources were able to answer the questions you have, and if you run into any further issues.