Hard-Surface Game Assets Workflow?

Hi, I’m creating some realistic game assets using blender+substance painter, and I wanted to ask what workflow do you use when doing similar things, to learn or change things becouse I usually have some errors(mostly with baking)

First, I model the object with the less possible faces, then I use subdivision surface to create a higpoly version with more rounded edges. Then, I export that to substance painter, bake HP details to LP and start texturing. As I said, I usually have artifacts when baking, so I wanted to know if I could change something of my workflow.

Pictures would be helpful…