So my finding is: planning is worth it.

For a little complex changes, I always run codex (5.5-high) in planning mode first. I have linked various docs/{ARCHITECTURE,BACKEND-GUIDELINES,NESTJS-DI,..}.md etc. from AGENTS.md so they can quickly discover relevant docs at planning time, only if they are needed. No need to know react specific stuff when it's dealing with a backend problem for example. I typically blindly approve plans made by the agent with a fresh context, because that's as if I had prompted it. Works the best for me.

Using /goal however, it's really just constantly compacting and doing it's thing, of course it gets sloppy. If only there was a state machine that would transform tickets into a Planning Mode Prompt, then use, idk. guardian approvals (somehow a "Product Management Perspective Lens" approving or making changes to the plan) and then letting a less capable or less reasoning agent execute the plan, I think that would work the best.