How to know when to use $config or $settings overrides in settings.php? I want to be able to disable certain options of modules on non-production environments.

For example:


Disable XMLSitemap from running
Set "Read Only" mode for Search API indices to TRUE
Set robots.txt string to 

User-agent: *
Disallow: /



How do you know whether you should override $config or $settings in settings.php?

Would it be:

$config['search_api.index.acquia_search_index']['readonly'] = TRUE;


or 

$settings['search_api.index.acquia_search_index']['readonly'] = TRUE; 


Also, how can you confirm if these overrides are working? Is there an admin overview page that lists these things?
From settings.php, regarding $settings:

Settings:
$settings contains environment-specific configuration, such as the files
directory and reverse proxy address, and temporary configuration, such as
security overrides.
@see \Drupal\Core\Site\Settings::get()

From settings.php regarding $config:

Configuration overrides.
To globally override specific configuration values for this site,
set them here. You usually don't need to use this feature. This is
useful in a configuration file for a vhost or directory, rather than
the default settings.php.
Note that any values you provide in these variable overrides will not be
viewable from the Drupal administration interface. The administration
interface displays the values stored in configuration so that you can stage
changes to other environments that don't have the overrides.
There are particular configuration values that are risky to override. For
example, overriding the list of installed modules in 'core.extension' is not
supported as module install or uninstall has not occurred. Other examples
include field storage configuration, because it has effects on database
structure, and 'core.menu.static_menu_link_overrides' since this is cached in
a way that is not config override aware. Also, note that changing
configuration values in settings.php will not fire any of the configuration
change events.