No no no no no. Design your product to be understandable at first pass. Apple famously doesn't do any of this with your iPhone, while Sony forces you to do it on every new device. Let the onboarding be a forcing function for usability. This isn't a crutch, it's something worse and damaging.
Sure, you always want usability and discoverability. But to suggest that everything can always just be discovered seems a lot like discussion of the elusive "sufficiently smart compiler." Eg, an unattainable ideal that doesn't exist in the real world.
I am not convinced that the current state of UX is such that it's possible to make a UI where there is zero need for product tours, documentation, video tutorials, etc. At least not for moderately complex products and beyond.