Getting started developing a DriverKit extension, need subscription?

Hello everyone, I am new to developing software for the MacOS platform. I have been doing so on other platforms for years and would like to know what I need to start developing a DriverKit extension, that enables me to read HID input and transform it into commands (I assume I need Xcode and I've already seen examples and some documentation to the technical side of the issue; I am having troubles wrapping my head around entitlements, App ID and the likes).

I am not yet talking about distribution, let alone in the AppStore, I am just talking about developing a piece of software for a customly made device, that should appear as a HID (pointer-device with additional touch surface, buttons and the likes).

Do I have to purchase an annual Apple Developer subscription right away? Or can I finish the driver and possibly a UI application for its configuration locally and then buy the subscription if I want to enroll my application in AppStore?

It's a hobby project, that will be useful to at least me and such a project motivates me to go through with it, even though it is admittedly somewhat complex.

Best regards, Igor.

Getting started developing a DriverKit extension, need subscription?
 
 
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