After 25 years in the full range of IC and management positions, I'm convinced there's no substitute for expertise, maturity and judgement. I could come up with some rules of thumb (eg. ICs need the maximum amount of agency they are capable of handling), but every rule has its exception. Distilled wisdom is easily misinterpreted, taken out of context, and cargo culted by those with insufficient experience to apply it.
I've seen how small dynamics resulting from individual personalities and nuances of org structure have led to massive dysfunction and productivity loss, even though everyone was well intentioned and doing their job to the best of their ability. I could list out hundreds of behavioral "flaws" that individuals exhibit, but there's no way to fix them all directly, good engineering can't be done by top-down edict and central planning. Instead, you need a critical mass of people, including engineers on the ground, with a good end-to-end understanding of the product and business so that micro-decisions can be suitably informed by the big picture, and the right concerns can be escalated for leadership attention. You need to be able to weigh the cost of product, design, legal, financial, support, security, and operations across both short and long-term to make the right decisions. This is only possible with a high degree of mutual trust and safety for experts to voice their opinion and find the right tradeoffs. It's very easy for egos and personality conflicts to come in the way, hence the need for maturity in leadership. Balancing a pencil on its nib is not a bad analogy.