What kind of waypoints/routes are used to prepare a flight plan in practice? I have noticed that FAA provides data delivery service where both waypoints and ATS routes are available to download. By looking at the files, I realize that there are a variety of waypoints and routes. I really want to pick the particular type of waypoint, which are used for pilots to prepare a flight plan in reality. Could you please let me know which types of waypoints/routes are used in practice?
For reference, I am attaching the screenshot from which the types are categorized. 

Types of Waypoint:

 

Types of ATS Routes:
In real life the flight planning process starts with where you are, where you are going, and then you make decisions on routing based on considerations such as weather, terrain, alternate airfields, airspace, VFR vs IFR, etc.  Looking at the chart you will then choose appropriate waypoints along that route of flight based on the aircraft navigation equipment.  You don't generally start planning by making a blanket decision on what category of waypoint you would like to use.