This answered my question most clearly, thank you all for your input!
If you install AutoRCM, you will be able to launch RCM mode without a jig, but you will still need to send the payload using a dongle, phone, tablet, or computer.
If you install AutoRCM and solder a chip, most commonly the Trinket M0 right now, in your Switch, you can make it send the payload for you. This means you can boot CFW without using a jig, holding volume up, or using anything external to send a payload. You can just turn your console on like you normally would, and you'd be in CFW.
If you are running on older firmware, or upgraded your firmware but took measures to prevent your eFuses from burning so you could downgrade in the future, there are exploits that will allow you to load CFW without RCM mode. Those are Deja vu and jamais vu, they have been developed but they haven't been released to the public yet. It's advisable to avoid updating your system so that in the future there may be an exploit released that you can use to avoid requiring RCM mode.
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I thought they only kept it private so Nintendo don't find it, which leaves a known security hole in future FW versions. But if its patched out in 4.1.0, then there must be another reason its kept secret.
Partially patched, we don't know the details.