There is also one thing I would like to add, and you can correct me if you disagree: coding benefits much more from thorough planning. Now, I exclusively work by first writing a plan that has well-defined steps and goals, which can of course change over time.

It seems to me like it would be more difficult to achieve with legal documents and, in my experience at least, writing a concrete plan has been the decisive factor that make my AI coding robust (plus all that you mentionned).