The science and technology behind drives makes this not a binary state of readable/unreadable.
Data recovery has ALWAYS been a case of "how much do you (or those you suppose may want to recover this data) want this data back?"
You take the type of data you have, guage its likely value, and take steps appropriate to those choices.
These will range between writing over (and over, and over, and over) with random bit patterns (more effective for HDDs), to encrypting the drive during use and then just deleting the recovery key (valid for all drive types), to sending the ATA Erase Command (SSDs, but don't trust this) to physically destroying the drive.
Physically destroying the drive is the best way to be certain the data is irrecoverable, both for HDDs and SSDs. If there is data you do not want recovered: destroy the drive.
as if it hasn't existed at all
depends on your "POV". If you are talking about what the logical block reads, it's more or less possible (e.g. given the software knows the filesystem well enough). But if you are talking about the actual NAND memory (or HDD/magnetic sectors), it's pretty much impossible (especially if you are talking like deleting just a folder or so, instead of a full drive multi-pass random filling that might not destroy every trace either).