We use KANBAN cycle times to estimate delivery dates. For example, my squad completes 85% of stories in 5 days. Given that, the number of stories in the epic, and number of engineers, it's easy math to calculate an approximate completion date.
It's important to note that we've convinced management that these are approximate completion dates, not deadlines. The dates are used for planning upcoming features and which squad will be free first to take it on. However, there's still plenty of adaptability.
Of all the places I've worked, this model is one that I've found to be the most productive.