I don't have a bread machine or a mixer.
Kneading dough by hand is a long and tiresome process. Are there any tricks to developing gluten?
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Time and stretching will do the trick as well. Full on kneading or using a mixer is not necessarily required. There are other techniques, such as "stretch and fold" or "slap and fold", which are generally used with high hydration dough. Here is one example of a no-knead bread. Also, This guy is a master...if I recall correctly, none of his recipes use a mixer or the kind of kneading that you are asking about. It does take some practice to use the techniques he describes. Bottom line: using a mixer, or kneading by hand is not always necessary.
I don't consider kneading (bread) dough particularly tiresome. You start with the right amount of liquid (including all soluble components and yeast) and put in flour gradually until the consistency is right. Obviously before the consistency is right, the dough is comparatively soft except for the final part. Since you started out with the soluble components already distributed correctly in the liquid, the whole purpose of kneading is to connect flour and liquid. This happens comparatively fast.
After initial raise, you don't knead anymore (which means mingling components) but rather structure the piece of dough: you work it into a dome where the glutinous components form a skin under tension. This tension is what keeps your dough from just going flat under expansion and rather have it maintain the shape of a loaf.
If you cut slices from a properly formed loaf, you'll sort of see it ordered in concentric circles (or rather ovals).
So basically the trick is to start with the liquid phase already prepared, know when to stop adding flour, and know when to stop kneading and rather start structuring the piece of dough. Also know when there is no point in further kneading and rather letting the dough rest.
If you have a food processor you can make fully kneaded dough in 45-90 seconds. The one trick is to put in dry ingredients, pulse a few seconds to mix, then with mixer on pour water required down the spout as the blades spin. Be sure to use cool water as the fast RPM causes friction heat. As the dough pulls up into a ball your set. Not recommended with moist doughs.
I've been using Ken Forkish's method from his Flour, Water, Salt, Yeast book.
It's folding rather than kneading.
Very low input required and it's been consistently good for me as an amateur. Check out his method here https://www.youtube.com/watch?v=y0owQi_U44c
It yields crusty topped white bread with great chewy crust and light, large holed crumb.
For 1 loaf: