Mostly, there's still some slippage of some but for the most part we estimate accurately and pad a bit for testing and unexpected side-effects. I've used retros

Mostly, there's still some slippage of some but for the most part we estimate accurately and pad a bit for testing and unexpected side-effects. I've used retrospectives to get better at estimating things and are honest about how well we did with respect to the timelines. Either we missed the timeline because we didn't understand the lift or we shaved the features of delivery to match the timeline. We monitor our velocity and adjust accordingly.