In forums almost every engineer that complains about agile to me then goes on to describe a deeply regimented waterfall system they are actually in.

The second common complaint is “I don’t want to do the hard work of giving input, just tell me what to code”.

That's cargo scrum, very common disease. Teams without autonomy or self-organization. The queue should consist of higher level tasks, milestones, and the team should rework them into the small tasks that will actually go into sprints. Of course there is a motivation to pick the higher priority tasks first, but team members should be able to pick a task with which they can most efficiently contribute to the sprint goal, it's not always the top one.

That sounds like Lean.