First of all don't change what works for you.....in other words...if you have been quilting without a frame or hoop and enjoy it, forget what you read to change your method. I don't use a hoop or frame either and that is the way I'll always quilt from now on. I tried hoops and a frame and hated it. Now one thing I have noticed from reading this thread is the "bunching up the quilt in your hands when handquilting without a frame or hoop? My quilts are smooth on my lap or table and I have one hand on top and one hand underneath moving along the quilt not only to guide the needle but to feel to make sure that there are no wrinkles happening on the bottom. That's the way I do it anyway.
Bottom line, don't change what you enjoy just because someone says there is a better way. It doesn't hurt to try something new but I wouldn't drive myself crazy trying to get it right either , JMHO.