Agile, in the spirit, and letter
It is important to understand the meaning of being ‘Agile’. Most people still work with ‘control’ and ‘predictability’, hence working with the Waterfall Model, but micro-managed.
If you start with the assumption, as mentioned in this article, that estimates are difficult, and almost always incorrect, then you will approach delivery with a different perspective.
Think about it. Make life easier and fun for everyone doing anything for the customer of the business.