What is the best way to model the intersection of multiple hard-surface objects? Not technically different "objects" persay - but where different pieces meet visually.

[![A perfect example of this.](https://i.stack.imgur.com/dmUlJ.png)](https://i.stack.imgur.com/dmUlJ.png)

**What are various ways of achieving this, and which ones are good for which use cases?**
Curved surfaces, insets of other pieces, panels, etc.

Using paid modifiers is fine; although, ideally there are ways to do without as well.

Thanks in advance!