honestly, not for every plan. At times running 30 agents and it would be impossible.
Instead of having that hands-on approach to agents, I have set up mechanisms to enforce safety in all regards - hooks blocking destructive commands, all changes landing in their own worktree or branch, and lots and lots of testing. For anything major - deploys, flashing hardware - explicitly requires my written approval.
Mostly paying attention to final reports, test results, claims, and competitor benchmarking when appropriate.