Earlier quoted context omitted.
both. you absolutely benefit from being free to improvise and follow the creative muse when pen on paper you also need a well-thought out outline for any larger work like a novel, or, it will be a disaster, or at least not be anywhere as good as it could have been credentials: creative writing for decades and experienced 1sthand tradeoffs of each. my verdict? seek the Hegelian dialectic. ;-)
If one ever does forgo an outline (I'm not sure if this is ever done), you'd probably have to revise the entire thing a lot , such that you're imposing an outline anyway.
related semi-tangent: with fiction I also adopted the rule to write the Ending first. because, for me at least, it then crystallizes what sorts of Middles and Beginnings might lead to it, and make the most sense or have the biggest emotional impact on the reader. which then practically paints out the character journeys for you, as the author. very helpful tactic