Many of us do believe this. Absolutely.
>It is highly discrete when it comes to output, because it takes time and experimentation to come up with the correct way to approach a problem, but if you do it right, you save yourself an incredible amount of time.
But on the flip side, if you get it wrong you waste an incredible amount of time.
The smaller the steps you take, the smaller the risk you step in the wrong direction.
I can't really comment on the rest of your comment because as far as I'm aware SCRUM means something different everywhere. I have no idea, for example, why a scrum team would not use formal estimation methods and rely on intuition.
Agile project management should mean you can examine your process and improve it. If your intuitive estimates are not accurate, you should be able to suggest a different method and see if you get better estimates.