The highest performing teams I have been a part of did not regularly do estimates for planned work. That may be the best practice for 2021.

If we had to absolutely deliver by a fixed date - a rarity - we broke the task down in parts that could be estimated, identified the dependencies between tasks, and kept management informed if those dates could slip.

This lightweight process worked pretty well if we had to implement it. There was a lot of trust put in the engineers.