It helps when tech writer is (semi)embedded with the agile team. I worked at a company where the writer would rotate between 3 teams, join daily standups and si

It helps when tech writer is (semi)embedded with the agile team. I worked at a company where the writer would rotate between 3 teams, join daily standups and sit side-by-side with devs in kind of pair programming/docs sessions. That worked very well. It can also be used to tackle 'docs debt' when issues on the tracker are explicitly dedicated to transfer fuzzy-knowledge-in-experts-head into docs, in order to catch up. If you don't plan docs efforts well in sprints, you get devs thinking "Oh no, annoying tech writer is coming to my desk to distract me, and I'm so busy". Foster a culture that includes attention to quality docs.