As you say, agile was a response to software specifications being legal documanrts written by lawyers. Most of the agile coaches have no idea of this.
A lot of the worst parts of agile actually come from trying to imitate startups like Uber. The profitability of a few startups was so seductive that a lot of dumb decisions were made to try to replicate it where it wasn't possible, but they sure were going to imitate the methods.
Yeah, I analyzed what I had been doing for the past 7 years and it was basically agile.
I was talking to a PM and she said they are doing Hybrid Development now, which is the combination of agile and waterfall. That makes sense. Now they call waterfall "predictive".
Over 8 years I created basically the same application for 14 business units, using waterfall. The company went Agile one day (also, cloud, git, "plan, build, run", reorganized all teams, etc... in two weeks with no support). I was the only one who had been taking classes (AWS Assoc Architect). I taught everyone git and the releases. I was the only one that knew what the app did or how. I was an "agile developer", but also sort of the owner since no one else was. That meant i had to tell the rest of the team what we were doing. I was fired for not staying in my lane.