I've never been on an agile software project where the PO wasn't a good programmer and the developers don't plan the sprint. 🤷♀️
I've been before and it sucks. Agile is great but needs to be flexible and done right.
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I like something between Xtreme Programming and Kanban.
Probably less about flexibility than about trusting that everyone's incentives are aligned.
High-trust teams tend to be chill about programming detours.