ANS=PNS, SNS, and also includes the gastric system.
SNS- come from IML of the spinal cord. The first neuron is the preganglionic neuron, which synapses at a system of ganglion, followed by a postganglionic neuron which goes from the system of ganglion cells to innervate: glands, smooth, and cardiac cells.
PNS- comes from brain stem (vagus nerve is a major nerve included here) the rest of the steps are similar to SNS except the system of ganglion are closer to the final cells they innervate.
Also they both produce different hormones. SNS=NE. PNS=ACh
So to answer your questions:
1. types of nerves are postganglionic and preganglionic neurons
2. both cranial and spinal nerves are involved depending on SNS or PNS
3. Somatic nervous system does not only consist of cranial and spinal nerves. Their neurons just have one long axon instead of pre and postganglionic neurons. You may be thinking of the CNS which includes brain and spinal cord, while PNS= everything else outside of spinal cord basically.
With the somatic nervous system their are afferent (towards) and efferent (away) somatic neurons that carry info away from or towards the spinal cord. These neurons are part of the PNS, which then synapse with neurons in the CNS where the information is carried to the brain.