For substance you can have cuts in weird places and still be able to hide them because Substance is good at that. https://youtu.be/GvkLWQx0BpY (video Youtube, "Substance in Maya" Substance Academy ).
When baking you're baking the high-poly's normals into a 2d texture, then that image is used to simulate 3d space when used inside of a Material and applied to the low-poly. The low-poly should have enough geometry to help the normal map look good, but low enough to perform well. The UV maps between the two must match the space and shapes that they are laid out within. This ensures that the look and placement of the texture will match.
Just some thoughts, trying to learn Substance and Autodesk Mudbox, which is designed for what you are trying to do and works excellently for me. All 3 play nicely together and really make newer things possible. You take your low poly into Mudbox, make a layer ( non-destructive workflow) . Then you can subdivide (make high-poly). Then you can sculpt and do whatever at a high level. Then when you are done, you already have your low poly that had a UV when you imported it. So now you use Mudbox's tools to bake the textures.
One last thought, it is actually another learning video (Creature Modeling!), this one is from Autodesk but helped me to model in Maya and use Mudbox to learn how to make assets and textures.
(Pretty awesome video if you ask me, but don't ask me, because I think it's awesome 🙂 )
Good Luck!