In some scenarios you need projects and full-on estimates though, ie. for planning of hard deadlines. But the reason you want to avoid it has to do with the discovery process during development. Everyone conventiently "forgets" this while focusing on their own ends (local optimization).
Quick feedback-loop with A/B tests are maybe easiest way to achieve understanding on how AM recommends people develop together. Such setups may end up costing alot though, unless truly done in the spirit of AM and recognizing the costs of shortcuts.