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Generally, vegetables prefer to be grown in warm weather and are started in early spring. However, it is possible to grow the cool-season crops in fall. Here is an article that you may find helpful (scroll to bottom for vegetables): https://www.gardeningknowhow.com/ornamental/flowers/fgen/plants-fall-garden.htm

These articles will help: https://www.gardeningknowhow.com/edible/vegetables/vgen/when-to-plant-your-vegetable-garden.htm
https://www.gardeningknowhow.com/ornamental/flowers/fgen/plants-fall-garden.htm (towards bottom)

Using tiers will make it easier for you. You can use manure, as long as it is well composted manure. This will eliminate the chances of disease and nitrogen burning that can occur with fresh manure. This article may also help: https://www.gardeningknowhow.com/special/slope-hill/growing-vegtable-garden-hill.htm

You can actually go ahead and till the grass, provided it has not seeded. Fall is a great time to do this. The soil is dry enough to work and you can add all sorts of amendments like compost and rotted manure. They will mellow in the soil over the winter and in the spring, the soil will be perfect for planting and growing - with no additional tilling needed. You may want to cover the beds if you work them in the fall to prevent weeds growing in them over the winter.

I would certainly refresh the soil by mixing the old with some new soil or sompost, provided the soil is healthy (free of disease/pests). Then you can refill the container and add your plants. Also, if you are concerned about the lack of worms, this article offers an alternative: https://www.gardeningknowhow.com/composting/vermicomposting/worm-castings.htm

Here is more information on this type of gardening: https://www.gardeningknowhow.com/special/organic/the-essence-of-permaculture-gardening.htm

It really depends on where you are in Michigan. Look up what the expected last frost date is for your area, and then plant your seeds 6-8 weeks prior to this. I can say that for most of the state of Michigan, you would not want to start seeds before March and likely mid to late March would be best to start seeds. But again, check for your area's last frost date.