You have to figure out what works for you, and that may change over time.
My current approach, influenced by the flavor profile I like, and ignoring the "coffee industry association offical brew temperatures" (way too hot, and good luck finding a machine that will allow you to adjust that) is to use a large French press (cafetière à piston), put in about 1/4 cold water, add coffee, add sugar if I feel like sugar, or not if I don't, and fill the rest with boiling water, stir - lower temperature brew, less bitter extraction, works for me. 4-5 minutes minimum, but 10 or 15 is not a problem since the temperature does not tend to over-extract bitter parts as hotter water will if left longer.
The same equipment filled all the way with cold water and stuck in the fridge the night before will do you cold brew without any fancy over-priced cold-brew stuff.
If the tiny amount of grounds the French press screen lets through bother you, pour the result though a paper cone filter before drinking. I do NOT bother with any particularly coarse grind for the FP, a few grounds don't bother me, and my temperature adjustment limits over-extraction as a problem.
I recently revisited my inherited Lavazza stove-top steam "espresso" (not really) maker, and put it away again - brews too hot for my current taste.
Aside from the flavor profile, I figured out that the reason I used to add a lot of milk to coffee, and then changed to adding ice in coffee, was simply that "standard" coffee was too darn hot. Starting from a lower temperature, no need.