You should be able to do this by editing /etc/NetworkManager/system-connections/xxxx.nmconnection (I won't pretend this is straightforward but it can be done - I would start by copying an existing entry or creating an additional entry to existing network).
I can see no reason "nmcli command it only seems to allow me to add networks it can find". You should be able to specify a network - depends what you ACTUALLY did.
It is certainly possible because if you preconfigure in raspi-imager it sets up the network.
Running /usr/lib/raspberrypi-sys-mods/imager_custom set_wlan 'SSID' 'PSK' 'AU' should setup WiFi (you may need to generate PSK from password and change country code) but I haven't confirmed this manually.
See How do I set up networking on Raspberry Pi OS - Bookworm
There is no NEED to use Network Manager - it is simple to enable dhcpcd and use wpa_supplicant.