That said, I find that running judge agents on plans before working and on completed work helps a lot, the judge should start with fresh context to avoid biasing. And here is where having good docs comes in handy, because the judge must know intent not just study the code itself. If your docs encode both work and intent, and you judge work by it, then misalignment is much reduced.
My ideal setup has - a planning agent, followed by judge agent, then worker, then code review - and me nudging and directing the whole process on top. Multiple perspectives intersect, each agent has its own context, and I have my own, that helps cover each other's blind spots.
