No need to pilot hole, they won't hold properly if you do.
What thickness are the carcasses? If 15mm, use a 4 x 25mm screw, if 18mm, use a 4 x 30mm screw.
Think about which side you screw from, most units have a side that won't be seen as much when you open the door.
Always use a quick clamp to bring the two sides together tightly first and hold them in perfect alignment before screwing.
I usually put at least 5 or 6 screws into each cabinet, under the hinges at the front and two right where the shelf goes. Then a couple right at the top and bottom at the back where they won't be seen. Getting in the service gap can be hard and makes removal later almost impossible without damage or removing the worktop. I glue my backs in as they inevitably pop loose.
The only time I ever countersink is if working with real timber.
I always use either wurth or spax screws which are self countersinking.
You could also use cabinet bolts, but I much prefer screws.