I'm not convinced there is any hope for a productive, long-term, burnout-free parallel agent workflow.
Not while they need even the slightest amount of supervision/review.
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I can pay full attention to the change I'm making right now, while having a couple of coding agents churning in the background answering questions like:
"How can I resolve all of the warnings in this test run?"
Or
"Which files do I need to change when working on issue #325?"
I also really like the "Send out a scout" pattern described in https://sketch.dev/blog/seven-prompting-habits - send an agent to implement a complex feature with no intention of actually using their code - but instead aiming to learn from which files and tests they updated, since that forms a useful early map for the actual work.