However...I have a subdomain with a not obvious name, like: userfileupload.sampledomain.com
This subdomain IS LIVE but has NOT been publicized/posted anywhere. It's a custom URL for authenticated users to upload media with presigned url to my Cloudflare r2 bucket.
I am using CloudFlare for my DNS.
How did the internet find my subdomain? Some sample user agents are: "Expanse, a Palo Alto Networks company, searches across the global IPv4 space multiple times per day to identify customers' presences on the Internet. If you would like to be excluded from our scans, please send IP addresses/domains to: scaninfo@paloaltonetworks.com", "Mozilla/5.0 (Macintosh; U; Intel Mac OS X 10_7; en-us) AppleWebKit/534.20.8 (KHTML, like Gecko) Version/5.1 Safari/534.20.8", "Mozilla/5.0 (Linux; Android 9; Redmi Note 5 Pro) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/76.0.3809.89 Mobile Safari/537.36",
The bots are GET requests which are failing, as designed, but I'm wondering how the bots even knew the subdomain existed?!
Based on this it sounds like you exposed your resource and advertised it for others. Reverse dns, get IP, scan IP.
Probably simpler, you exposed resource on IPV4 publicly, if it exists, it'll be scanned. There's probably 100s of companies scanning entire 0.0.0.0/0 space at all times.