That's actually no longer true, you need to join the free dev program, but can publish to your own device without paying $100/year. The $100 is only needed for the App Store now.
Well, as long as you're willing to reinstall your app every 7 days. Otherwise, you must remit the Software Development Tax.
Nope, pretty sure you can do it with a free account
Correct, but your self compiled app will only work for 7 days on your own device. And than you have to recompile and reinstall. Unless you pay the $100
Didn't know the 7 days thing, thanks. Even more of a hassle then.