Toasted is best.
Steamed is OK.
If I’m starvin’, I’ll tolerate right outa’ the bag.
The best hot dogs, European wieners, and brats I ever ate were from street vendor carts in Pr. George, BC.
They’d toast the buns, and the dogs/brats were grilled, with really good condiments.
Toasted shows respect!
I'm from Knoxville, Tennessee. Should say it all, but doesn't. Years ago, somewhere in the early '60s, a deli called Sam & Andy's on Cumberland Avenue began steaming their deli sandwiches in a Wear-Ever Fresh-O-Matic Steamer. It has since become the traditional way to serve deli sandwiches in East Tennessee.
While traveling, the deli's owners got the idea from a little traditional Jewish deli near Asheville, North Carolina, called the Pickle Barrel Deli. Sam & Andy and their deli are gone at this point. The oldest continually operated deli to do it is now Parton's in Gatlinburg. There's a nice historical article about the practice, HERE.