Zwave plus (the 5th generation of zwave) added a new include method (technical stuff behind the scenes) and now can mostly be “paired in place” when using secure mode even when more than one hop away from the hub as long as the repeaters being used are also zwave plus. This is called “networkwide inclusion.”
New Plug-n-Play Network-wide Inclusion feature
So if you follow @etbrown’s suggestion of laying out the backbone of repeaters first, and you have enough Z wave plus repeaters, you no longer have to do much “bench pairing” where are you first pair the device right next to the hub.
On the other hand, if you have a lot of older devices which are not Z wave plus, then the method @siwilson mentions may be necessary.
The main exception to pairing in place is zwave locks, which usually have to be paired “within whisper distance,” about 3 m, for added security.