Thanks for the post.
I believe still the short answer is that you do not need a paid Apple Developer Program membership, but you do need a free Apple ID, which Xcode refers to as a "Personal Team." Is that still the terminology?
As the free account allows you to: https://developer.apple.com/get-started/
Access beta versions of Xcode and operating systems
Test your apps directly on your own devices using Xcode
Engage on the Apple Developer Forums
Submit bugs with Feedback Assistant
Participate in online Meet with Apple events
Apple requires all apps installed on a physical device to be signed. This ensures the device knows exactly who built the app and prevents malicious software from being installed silently. To do this, Xcode needs an identity to sign the app with, which it calls a "Team." You can use your standard, everyday Apple ID to create this team for free.
Xcode will now automatically generate the free provisioning profiles and certificates needed to install the app on your plugged-in device.
I would recommend to looks over to create a free account and start your journey here https://developer.apple.com/get-started/
Check the difference between the free and the paid account, for what you need a free account will be enough. But if you want to distribute the app via App Store or TestFlight or have capabilities like push notifications, Apple Pay and iCloud integration as well as keeping it on your phone after testing for a few day.
Wish you luck and welcome to the developer program!
Albert
Worldwide Developer Relations.