Hey Chuck_3,
baking by sub meshes should work, yes.
You can bake 'all' the maps in Substance Designer/Painter, depending on what maps you want to get.
Maps like a curvature, normal or depth map is possible plus a lot more

My advise to you: Just start somehow and learn it by using it. Don't feel bad when the first few tries doesn't work as you expected: You always learn with every step forward and after a couple of tries you're into it before noticing.
Best regards