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?!
The OP and all the people talking about certificates are making the same assumption. Namely that the scanning company discovered the DNS name for the server and tried to connect. When, if fact, they simply iterate through IP address blocks and make get requests to any listening web servers they find.