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I tend to write out characters, and if I world build or religion build then that gets all written down, but for the actual plot and story itself I usually have something very rough like, They meet->Time passes, at one point mentions yadayada, stuff like that. Very loose indeed. Some stories I have a fuller idea of than others so they might have slightly more of an outline, but rarely anything beyond that.

I've written some stories where the characters have indeed "written their own world", but I've found outlining to be way more efficient. If I don't, I have a high probability of discarding it along the way.

I have said time and time again that the use of outlines when writing cannot be over-emphasized. When you use outlines, they give you a specific direction for which your write-up must be headed which makes you work easier and faster.

I must say I don't use outlines. When I write ideas just keep flowing nonstop. However I think outlines guide you.