Sometimes(read: most of the times) the tech debt and other code issues arise from the last min requirements although as dev. we try make sure the code is robust

Sometimes(read: most of the times) the tech debt and other code issues arise from the last min requirements although as dev. we try make sure the code is robust enough to absorb these changes seldom this happens. What I have seen is effective for me is to sit down with pen and paper and describe the problem at hand and then think about the solution write up.