I do a three step process

1. Germinate

2. Grow till two pairs of true leaves.

3. Plant outside.

I will germinate in warm water May-Sept sans July. Then either into an AeroGarden or Jarmination (https://www.growmilkweedplants.com/post/jarmination)

When the roots are 5” and stems have two pairs of true leaves they are ready to harden off and plant.

Direct sowing is inconsistent. Seeding into the same area two years in a row is generally gonna work well. Best advice for direct sowing is to be sure to water when temps are above 80° to get that germination going.