People who don't outline don't seem to get that outlining is not usually a firm commitment... it's just notes.
I wrote a blog post the other day on my rather chaotic planning method, but the short version is: yeah I outline when the book is 3/4 done. It helps pull everything together.
I also do other planning tasks earlier.
I don't write in chronological order -- I can't. My mind moves way too fast, and I'm dyslexic and can't even take summarized notes that fast. So I write like I paint, laying down a foundation, playing with details and seeing how they fit with the rest. Yes, a structure develops, but it comes from the characters and story.
IMHO, both pantsing and plotting are skills a writer has to learn. Different stories will require different skills. You may prefer one or the other, but you need to be in a position to chose between them.
Oh, here's a link to the post "Dis-organizing a Novel:
http://daringnovelist.blogspot.com/2...ing-novel.html
Camille