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Here are places I plan to book before leaving when I walk the Frances again: SJPDP, Orisson/Borda, Roncesvalles (hotel, because my experience at the albergue was suboptimal; others may differ), Zubiri, Puenta de la Reina, and Santiago. After that, it's a judgment call based on the number of...
I would consider booking a few days before arrival. Pre-booking was not necessary in most places, but Puente la Reina (and Zubiri) can get full. We hadn't pre-booked and ended up sleeping on mats on the floor of a cold, former wine cellar, which was better than no accommodation, but less than ideal.
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