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.