Do I have to write down daily plans for each child regardless of whether they fall within the EYFS or not? How do you document your planning?

You need ideas for moving children's learning on - individual planning - next steps linked to observations.

They are not normally daily - they run for as long as the child needs to learn / consolidate / establish / practice whatever you have identified.

You only need to record observations and planning for Eyfs children - until they start full time school :D