How do you feel about doing outlines for stories you write? Do you do them or do you just write whatever comes to mind?

I prefer doing rough outlines for my stories. Just something to keep me on track, but a lot of the time, it's just major plot points that remind me about what I'm generally supposed to be writing about. I'm trying to expand on things though and make sure I know what I'm writing about at all times instead of doing major plot points and then just writing whatever comes to mind, but I'm not sure what's gonna work best in the end.