The code is the documentation.

Legit. Even if documentation can be time-consuming, it is such a lifesaver and makes the whole process of coding much smoother. It means not as much time wasted backtracking. If you think there is any part of your code you won't understand when you coming back to it, document, document, document.

Sometimes I write some multiline psuedocode comments or/and an explaination of specific choices, especially those invisible choices you make while debugging that aren't apparent when your just reading through your code.

Good thing to do is make code that is generally readable too lol.