"But why is it not possible by default?"
Probably because these Super I/O chips generally use the ISA bus and require 
probing. It's not like a PCI device where the dev can just alias the PCI ID. 
Then you have chips like the it87 family which often require force loading and 
could have side effects ("This is inherently risky since it means that both 
ACPI and this driver may access the chip at the same time. This can result in 
race conditions and, worst case, result in unexpected system reboots.")

"How should one know to run the mentioned command in order to make pwmconfig 
work?"
The error message tells you that you need an appropriate kernel module. If you 
think it should explicitly suggest sensors-detect, maybe open an issue at: 
https://github.com/lm-sensors/lm-sensors/issues
I'll re-title this bug in case anyone at Ubuntu wants to patch it.

** Package changed: ubuntu => lm-sensors (Ubuntu)

** Changed in: lm-sensors (Ubuntu)
       Status: Invalid => New

** Summary changed:

- Not able to change fan speed
+ pwmconfig could suggest sensors-detect when no pwm-capable kernel modules are 
found

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https://bugs.launchpad.net/bugs/2100719

Title:
  pwmconfig could suggest sensors-detect when no pwm-capable kernel
  modules are found

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