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Sprints are stupid. Treat the developers as professionals. Stake holders should be encouraged to request whatever work needs to be done to execute on the business’ needs. They should then work with the engineers to prioritize that work. Then, they should sit back and wait for the prioritized features to roll in. Constant communication should be maintained over blockers, faulty assumptions, unforeseen circumstances etc. but the stakeholders should assume engineering is doing their best to deliver as fast as possible while maintaining standards. In this environment, over time, velocity will shake out pretty accurately and the stakeholders will be better able to make longer term projections.

TLDR, Kanban.