> A problem with scrum, IMHO, is that it places these extrinsic factors front and center

OKRs are orthogonal to Scrum, Velocity is a measure that doesn't have specific targets in Scrum but instead is used to evaluate trials of process changes so that decisions to accept or reject them aren't arbitrary and subjective; sprint goals are the only of the things you enumerate that are actual goals in Scrum. And, yes, removing them as extrinsic motivation (and, often, a source of unproductive stress and otherwise and impediment to velocity) is a motivation for more flow-based agile methods that don't use pre-planned increments.

Though, your description is, definitely, what lots of organizations do when they are “doing Agile” with some bastardization of Scrum.