It depends, but as I understand it, acidic foods like pickles, sauce and jams can be safely canned using a water bath but more pH neutral foods like stocks or plain green beans need the higher temps you get in a steam canner.

You need pressure if you are at a high altitude or if the food isn't acidic enough. I use the USDA guide for canning recipes: https://nchfp.uga.edu/resources/category/usda-guide

I added 1/4 tsp citric acid to each jar and boiled them for 35 mins at a vigorous boil.

I have a pressure canner but it's a pain and I have to use my glass top stove, so I'm afraid to load it up. I use it sparingly.

Tomatoes are fun. They can be pressure canned or water bath canned. Although with the second you usually need to add extra acid to be safe, but it's absolutely doable.