Sounds familiar.
Back in my consultant days, we would encounter companies that wanted to be “agile”. They’d insist they were waterfall and it wasn’t working.
Truth is, if they’d actually been doing waterfall they’d have been performing far better. Instead, they were just chaos, reacting to one fire after another with no plan to get out.
Additionally, many teams were simply staffed with poor managers and poor engineers. There’s no consulting-fu or process-fu that was going to overcome that. You can’t win horse races with pack mules, my dad (a basketball coach) used to say.