The advice to not give estimates is just to work around engineers bad soft skills. So if you have engineers who can keep a healthy relationship with stakeholder

The advice to not give estimates is just to work around engineers bad soft skills. So if you have engineers who can keep a healthy relationship with stakeholders then estimates are not a problem, but if you have typical engineers then someone else will have to do the estimates for the engineers without consulting them. Ultimately someone has to do the estimates so if the engineers can't handle it someone else will be forced to.