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 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 find I have to switch direction many times per day, constantly re-micro-prioritizing.  I guess my point is more that I don't know how to do that in a team environment where priority is supposed to be managed as a group. 
 Hmmm... Sounds like you haven't had enough intellectual freedom within the projects you've worked on.

I tend to be like, Better to ask for forgiveness than permission. 😁 
 I've been before and it sucks. Agile is great but needs to be flexible and done right. 
 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.