Picking the best solution for you and your conditions is a bit of an art. I found double digging two clay plots hard work the first time but not so hard the second or third. Not that I double dug every year. After six years I'd a deep, healthy soil across the plots although I resorted to raised beads at the lowest end of one of the plots because of water logging.
Here the conditions are very different. A light, poor soil that's been ill-cared for pasture for about 50 years. Raised beds got me growing in months but in other areas I'm stealing ideas from permaculture and no-dig methods. It's impossible to dig anyway as there are so many stones in the soil the spade won't go in. Eventually I'll rotavate and start the endless job of picking out the stones.
Controlled mowing emulating mob-grazing has started to show benefits to the grass areas - would be a lot better if I'd used sheep and hens but we do what we can with the resources we have..