I've tried probably a couple of dozen methods, paper being a solid thing I go back to every couple of years. Complice (a web app) was interesting.

For the last couple of years, I've used free-format text in a new note in Bear app every day, an ever-evolving template (I generally copy the previous days' document, remove done items and stuff that's no longer important, and plan from there). I do something similar for weekly and quarterly plans, all free-format in my notes app of choice.