BTW have you heard of / had experience with programmer anarchy approaches championed by Fred George?
And I suspect we are in violent agreement. which leads me to wonder what is going wrong
There are a lot of people getting paid in the IT industry, about half of whom write code. They range in skills across the double hump of software ability. And they are apparently all over stretched or on silly short timescales brought on by a poor initial estimate.
To go from just surviving to a team that guides itself takes a lot of training, social norming and individual coaching. None of which will happen with these foolish estimates driven projects.
So I am not sure I see a way forward.