When to Apply for YC

So I found out recently about YC and have a great idea/product and want to apply.

It seems I've missed the S21 batch, so I should wait for W22? I also saw this article on early applications, (https://blog.ycombinator.com/apply-to-yc-on-your-schedule/), so will this apply to W22 as well.

I'm not particularly time constrained or anything so waiting a few months isn't a big deal, just trying to clarify.