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.
“People may hear your words, but they feel your attitude.”
– John C. Maxwell –
Documentary photography, involves and thrill photographer and the observer capturing unique, sometimes funny, sometimes tense moments of a fraction of daily life.
But what is it that, actually, makes some photographers unique during their travels around the world? The photographed subjects, often real photographs of genuine people posing and casually met just moments before.