> If your software has clear requirements, has a point when it is done, and only requires minimum maintenance after that, you aren’t writing agile.
This is simply not true. All 'agile' projects Ive worked on have had a complete-as-possbile analysis phase where we figured out the scope and the domain up front. This is not anti-agile at all, but is necessary on any project anywhere you are working on. (Agile is largely about avoiding 'big design up front', not 'big analysis up front'. There is a massive difference between analysis and design.)
Agile is about changing your plan when the _requirements_ change. Your API or whatever should change if your requirements change no matter what methodology you are using. But with waterfall you will not be able to and you will end up with a useless API.