I used to work for an organization where engineers so universally loathed the idea of estimates that I was convinced that it was just a necessary evil. But a few months ago I joined an organization where the relationship between engineering (which I'm in) and business is not very adversarial. Here, estimates are a tool to answer the question "how much work should we take up in the next sprint without burning ourselves out?". The estimation process is not loved, but it's not hated either.