Same, I've sorta ended up converging on make a rough plan, get second and third opinions from various AI's on it, sort of decide and make choices while shaping the plan, which we turn into a detailed specsheet.
Then follow the 'how to design programs' method which is mostly writing documentation first, then expected outcomes, then tests, then the functions, then test the flow of the pipeline. This usually looks like starting with Claude to write the documentation, expectations and create the scaffolding, then having Gemini write the tests and the code, then have codex try to run the pipeline and fix anything it finds that is broken along the way.
I've found this to work fairly well, it's looser than waterfall, but waterfall-ish, but it's also sort of TDD-ish, and knowing that there will be failures and things to fix, but it also sort of knows the overall strategy and flow of how things will work before we start.
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