Start with an informal visit to the Planning Board as early in the process as possible:
You don’t need a detailed design, or any design at all
Many Princeton ADU builders made multiple informal visits to the Planning Board before they hired an architect or contractor or applied for a site plan review
They have a lot of experience with ADUs, and they will have to sign off on your site plan anyway
They are very supportive of ADUs and can answer many of your questions
You can contact the Board’s chair and ask for time at a meeting or simply show up at a meeting (in person or online) and ask your questions during the time slot set aside for that