Manual Track Route

First some small things I want to get out of the way:
Generating netlist files and importing in Pcbnew has been deprecated for three or more years. Try: Eeschema / Tools / Update PCB from Schematic [F8] instead. The result is very similar, but it’s much quicker and more convenient.
What KiCad version are you using? There are some differences in the behavior of different versions.

That works. Quite some time ago I experimented with first drawing a bunch of tracks, and then later connecting them with footprints.

Another post in which I experimented with mass copies of tracks, and connecting them to connectors later in the process:

That is very likely the “walkaround mode” of the Interactive router, and is what der.ule mentioned.

Klick on: Pcbnew / Route / Interactive Router Settings, and then set the Mode to Highlight collisions

When you draw tracks in KiCad that are not connected to a pad, then the segments get assigned to “No Net”. If you set the interactive router into the Highlight collisions mode, then it should let you draw a track from a pad (so that new track is part of the same net as that pad) to connect to a track segment that is in the "No Net** part of the netlist.

I experimented (again) a bit with it. I can draw a track segment that connects a named net to a “No Net” track segment, but not from a “No Net” to a “Named Net” track.

If that does not work satisfactory, you can also turn on Options / Allow DRC Violations (der.ule put a red line through it, which is a bit unfortunate). If you combine these two settings, then KiCad lets you make any connection you like.