weird knock on "agile" here, since keeping technical debt low was a by-product of TDD and Refactoring, and worked in harmony with hardware development by savvy teams.

"This architectural discipline is increasingly rare in modern development. Michael Riley, a team lead at Carnegie Mellon’s Software Engineering Institute who previously collaborated with NASA to adapt risk-assessment tools for the Orion mission, noted that while earlier generations worked within strict hardware constraints, modern mission-critical development is different.

“Modern Agile and DevOps approaches prioritize iteration, which can challenge architectural discipline,” Riley explained. “As a result, technical debt accumulates, and maintainability and system resiliency suffer.”"

Gerald M. Weinberg worked on the NASA "Mercury" software using techniques similar to test-driven-development and pair programming: "Agile' software development before the term "software engineering" had been invented.

#agile
https://cacm.acm.org/news/how-nasa-built-artemis-iis-fault-tolerant-computer/