And while that's true, it's not a very useful result. There is a large subset of programs that are easy to estimate. If someone says, "write 20 standard CRUD services," most people can accurately estimate how long that will take. There is nothing tricky there. If someone says, "write a program to solve Goldbach's conjecture," then it is true, you can't estimate how long that will take (maybe someone can, I don't know how).
In practice, for the kinds of tasks programmers usually do, experience shows that 90% of the time we can estimate correctly.