Speaking from my personal position, I spend most of my time writing software and firmware for a product that we designed to satisfy our internal needs and which

Speaking from my personal position, I spend most of my time writing software and firmware for a product that we designed to satisfy our internal needs and which we have now developed a product. This is in a deeply domain specific area. I make decisions daily that have quite far reaching UX/UI consequences and even with about as deep a knowledge of the user domain as its possible to have (or perhaps because of that), I agonise over those decisions. I pity anyone trying to work on this kind of software without that direct first hand domain specific knowledge. You either implement the spec as-is, filling in the gaps by guessing or you get super stressed by the lack of insight - neither is a good place to be. Probably the solution is to have the developers get as deep an insight as possible into the problem area they are trying to solve, and work very closely with users at every stage.