Yes, you need to pay the $99 to have a registered developer account, which is required to digitally sign apps to distribute through the App Store. Of course, you can download and use the dev tools for free, and distribute/sell your apps any way you like, without paying Apple anything. So if the App Store isn't worth $99 as a sales channel, don't pay it.

That's true. You will also need a computer, a chair, a desk and food to learn and develop apps.

AppStore Developer subscription is not a social security program, you will need some capital to run business on it.

It is like the need to spent money to buy the flour and the chocolate before making money from your first donuts. Standart business stuff.