The normal transport is cellular, because it is cheaper in energy and money per message and available across most of the route. Satellite carries the link where terrestrial coverage does not reach — an ocean leg, a remote site, a long stretch of empty highway.
The device decides. It attempts cellular, buffers when it fails, and escalates to the non-terrestrial link when continuity is required rather than eventual delivery. Reporting policy differs by transport, because a message that costs ten times as much should not be sent at the same interval.
Handoff between indoor and outdoor works the same way. A tag seen by a BLE gateway inside a facility and by GNSS outside it is one asset with one history, not two records that a human has to reconcile.