Registering a tool window programmatically without using Internal api

The documentation at https://plugins.jetbrains.com/docs/intellij/tool-windows.html#programmatic-setup recommends to use ToolWindowManager.registerToolWindow() 

However, as far as I can see in 2023.1.2, all the registerToolWindow methods are either internal or deprecated. So my question is, what is the recommended way to do this?

I know of the toolWindow extension point, but I have not found a way to make sure that the tool window will not be shown in the sidebar on project open.