I also like to prepare notes first, and as soon as possible after they are done, record. That way the ideas are all fresh in my mind. I use the notes as a structure but mostly ad-lib the audio. Reading the notes is a big mistake as far as I am concerned. Since the first HPR show I did I do not rehearse.

Years ago (late 1970's) I used to teach evening classes in an Adult Education centre (Pascal, BASIC). I evolved a similar style there, and constructed notes which became hand-outs for the students. Amusingly they were printed on a line-printer, and I'd written my own text-processor to generate them (think early but less convenient Markdown).

As to audio editing, I do edit. I hesitate and 'um' and 'er' a lot and I deal with these by (light) silence truncation and removal of a proportion of 'um/er' patterns. I can edit a lot faster now than when I started, but it's just a personal foible. Without editing I find my audio irritating to listen to and assume others will too!