I do not think there is a definition of the best way in absolute but rather a mix of internal and external factors that determine the best choice from time to time.
Avoid the hypocrisy of saying that street photography must be stealth so you will not alter the situation: it is often a banal apology to mask the cowardice we have to ask the subject to lay for us.
“Traveling – it leaves you speechless, then turns you into a storyteller.”
– Ibn Battuta –
Travel and people photography is perhaps the highest form of free interpretation of what is today’s society.
The way to achieve moments of real life is always a free choice of the photographer but with experience we understand which lenses are most suitable than others. Although, at times, it is interesting to see the so-called “street portraits”, in my opinion they should not be more than 5% of the overall service that you take home. The rest of your shooting, I think, need to be created with a wide-angle lens.