How to save recurring payment method on Stripe for performance-based work (without a subscription)?

Hey guys,

I'm doing performance-based billing and want to charge my clients automatically whenever I bring them results (not monthly or on a fixed schedule).

I already had a client pay once via Stripe (bank transfer), but I now want to:

Save their payment method (SEPA or card)
Get permission to charge them again later without requiring manual approval
Avoid setting up a subscription since charges are irregular

What's the best way to do this with Stripe? Can I do it via a Payment Link or do I need this SetupIntent + Checkout? Because I have absolutely no idea how to set this up, as it seems really confusing, and not even the good old yt tutorials go on this.

Appreciate any guidance!

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