Questions on Sipser's NP implying verifiability?
Essentially, yes. Though I usually find it easier to think of nondeterministic machines as guessing what to do. So, as the machine runs, it starts by repeatedly doing the following: either it guesses that the current string is good, and verifies it, or it guesses what the next character should be, and it repeats. Thus, if there's some string that the verifier will accept, some sequence of guesses will lead to the machine producing that exact string and then deciding to verify it, so the machine will accept. (Also, the machine needs to keep track of how long the string is, so it can stop if it gets too long.)

We have a nondeterministic Turing machine $N$ and the guesses it makes lead it down some path of the tree of possible computations. If that path ends in an accepting state, the machine is defined to accept its input; if no path ends in an accepting state, it is defined to reject. There's no circularity: that's just the definition of what it means for a nondeterministic machine to accept or reject.
From this machine, we build a verifier. The input to the verifier is a description of a computation path, and the verifier checks that each action taken on that path is a thing that $N$ could do in that state, and that the path ends in an accepting state. If those conditions are met, the verifier has verified that $N$ really would accept the given input.