>> Prepared statements will automatically be created for any queries where it can be inferred that the query is static What does this mean in practice? Like, actual prepared statements are created against the DB session if there are no bound variables, even if that query is only made once? If so, it's an interesting but highly opinionated approach...
https://www.postgresql.org/docs/current/sql-prepare.html explains it. Read the section called "Notes" for the plan types.